diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e81b02d877d4448cc560d025392e5fd3591bb088 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6570bd5c729e078c870d2d794ff82a6b9c8b46fade46449353c494058a48bcff +size 4021 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b40d42c5a999f8602c145c08b8c242aa6c2ddc3d --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:721d8ae00793da9ab618441964b988720ec5c6faf6906ae7183369a052b15df0 +size 530235 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..e8e97c1ff59b96e1471b5ac5fd1af2c8178d605b --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.vla.log @@ -0,0 +1,22 @@ +INFO:root:Loading model... +INFO:2026-11-05 05:15:07,768:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 05:15:07,782:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 705.9 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.06 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47652) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47652) closed +INFO:websockets.server:server closed +Traceback (most recent call last): + File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/asyncio/runners.py", line 118, in run diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval/episode-0002/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87e8f2082645a103ee334c91fb6ff6c46b623980 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df84b2b946833942cb9096f2353eee9d405877528908b52b7c04a16925af8b2c +size 4087 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a49d7d0739165a0d2930f99bef6aded2f24b2d3 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d9c71bf92bcf8576aee6f1979ddcdca9c04fca5a6e33aa6c718275c265a2a4d +size 365017 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..1fbf9eb3b8f51adbe49955e728049e89862e5e31 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.vla.log @@ -0,0 +1,18 @@ +INFO:root:Loading model... +INFO:2026-11-05 06:32:04,483:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 06:32:04,494:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 712.4 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.98 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36416) opened +INFO:websockets.server:server closing diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..210e94f7dacea84b64e4984af9679dbb2d4752e1 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a7bdecad6cccb38c2a35d516d868054ae7939227af566c6fda18f7b955cafcb +size 66612112 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3697fd2a623c70f16715c813680a0cfd2912fe16 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62985db41ca99b7c8e05ecb9781850b6697cc9e4b22d439d2fb63a1ca8040a4e +size 21217 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06fb6b427848a3d93154f08dbcbf28ce74c06a14 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46af1879b5937b4536a8b539a208cc4b34872be39e92af1c91da522c87c372fb +size 102171224 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..991d42707f624675fa5dc9b83c38d2b6e5e6d5e8 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bba07e730d6915500dca9c8d21f46159737f16e3c1f83192e448b76e02df2099 +size 30279 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval/episode-0002/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c42ee1621c0c31e725cb39313d2bd38809422b6 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5512b9014c66b052cf171ba1c8d1f49fcf17dd2c61aa224279f19473a821173 +size 2083 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10a098d5eac627e90368e3b3b9c4b23e9aee29c5 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fd635e11e17fe8d4ac01ffda9251cec1a5ea2eae3b9530202c8b6246e9fed4d +size 202082 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..e5cd4f91f124930873e1b749e6477ff185d80401 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.vla.log @@ -0,0 +1,22 @@ +INFO:root:Loading model... +INFO:2026-11-05 07:56:16,942:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 07:56:16,956:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 705.4 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.07 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 58500) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 58500) closed +INFO:websockets.server:server closed +Traceback (most recent call last): + File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/asyncio/runners.py", line 118, in run diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..708a2522933076017060581b4c54488adb1a7463 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fef3720662ebb1a8a43e25a902cace786b5ad954659f8b983df83f393d37e7d2 +size 102647970 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84aa209e5ce74ab435cfab4757c5c22c00e6f4d1 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab2e4b47e2440dd046168f566faeaa3a75d99110fbfbb43f292f64e6dee6f61c +size 30709 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a8f9a87bb8745e78136c10da6fe2c482dff84ff --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c2ef3a862a7985cc4b0af131fe6f9550709188ea4ddbcc36a4cd08572f82018 +size 6152 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..532cbeb99c2137e0bb0d1389660cf012cb8c24a2 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94571377fa1e3512cf2c7da014d4607f1538b9ca39e5d1661ff6ef841ed9700e +size 620715 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..3b264d5d2b0bc836720a50dfcd7a53d654318585 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.vla.log @@ -0,0 +1,18 @@ +INFO:root:Loading model... +INFO:2026-11-05 08:58:15,765:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 08:58:15,778:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 700.7 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.13 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55694) opened +INFO:websockets.server:server closing diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b6f2bb3570b4bc382f1a61c675a3913080cef95 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b0bd12539815c245765edc17809ef6ff4d9d04415e8f5aad493d540198dd3f2 +size 87893399 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval/episode-0001/network_timing.jsonl 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a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval/episode-0003/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96840cc92762a0b1cdc4d2b5f8f85f27c573749e --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20505956699ebacda479fd49c1d22daea695ecc7f64efab58790d7c0a68c18ab +size 2067 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddb3c0b58fbf4d1bfb36d7b700ba1ef6e04da247 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c95bf3c04e63b49d615b47dae257c4b234c00aa0698e73bd0993f792e7aa6959 +size 236578 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..cbbf9fb1d31a75b0da9290b6265b69064a49139f --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.vla.log @@ -0,0 +1,18 @@ +INFO:root:Loading model... +INFO:2026-11-05 11:18:17,370:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 11:18:17,383:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 735.5 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.70 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53580) opened +INFO:websockets.server:server closing diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef4e8b0705bbb534fdd80a756441b144e191992e --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23303f510f61e7ebe3ad111389a6dd534d310b11aa68b41d79067cd5181545a +size 102372799 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval/episode-0001/network_timing.jsonl 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b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..747b0116ceff5461aece4d624ce5adbc04600175 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff2e0257c9dc9ab8036203f357edc9033cfb9b3462918320d0271cbaa7f5c45a +size 2146 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e0e019fceffed1a2df61993bf13d3524b36d043 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a2e3a402da16ddb686923ce5584e4b456b08d83bb74f65d57907f876775f419 +size 123609 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..e83f09a11fb121cbb0351e8136b3c39c630daefb --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.vla.log @@ -0,0 +1,19 @@ +INFO:root:Loading model... +INFO:2026-11-05 12:38:17,916:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 12:38:17,929:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 694.3 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.21 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38032) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38032) closed diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval/episode-0001/events.jsonl new file mode 100644 index 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"score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/ReorientWhiteMugsTask/log_0_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb2a0efac58e1356bf28b08b3121d886ee505ed --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/ReorientWhiteMugsTask/log_0_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": true, "final_step": 698, "events": [{"step": 79, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 79, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 79, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", 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file diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/ReorientWhiteMugsTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c93a6f3abe8de40971491d7e9647bca4aaacad --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/ReorientWhiteMugsTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": true, "final_step": 521, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: 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100644 index 0000000000000000000000000000000000000000..ccda90d4bbeadfaa394475fa7165ed89231f0c17 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4a31d8132f1249e285f13de4cc5b4882f5d4cd52370e61203c623fe16dc0db5 +size 10321 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/server.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/server.log new file mode 100644 index 0000000000000000000000000000000000000000..aee326fc260add4ac3efe1a64fd07af0e812a1dd --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/server.log @@ -0,0 +1,904 @@ +[2026-11-04T14:20:43Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51058) opened +INFO:websockets.server:connection rejected (200 OK) +INFO:src.evaluation.robolab_bench.episode_stats:Episode 82173f02bd1c4c98a1f1c117985779fc-0 (codex/gpt-6-astra) ended: wall=1860.400s harness=1613.201s tokens=8116580 usage_complete=False decisions=48 executed_steps=664 steps_complete=True network_wait=3.0708282962441444 rate_limit_wait=0 rate_limit_count=0 excluded=3.0708282962441444 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 6d7c93f83f1c4756aa1e80b81289c7f9-1 (codex/gpt-6-astra) execution_error: wall=N/As harness=N/As tokens=10993525 usage_complete=False decisions=65 executed_steps=835 steps_complete=False network_wait=30.974903859198093 rate_limit_wait=0 rate_limit_count=0 excluded=30.974903859198093 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T16:07:46Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-04T16:08:16Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T160818.943251Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T160818.943251Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T160818.943251Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 45172) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 10a2f33c95ee4e6cbc7ca486505ea1a6-1 (codex/gpt-6-astra) execution_error: wall=4297.473s harness=3989.713s tokens=9039546 usage_complete=False decisions=63 executed_steps=826 steps_complete=False network_wait=21.313474617898464 rate_limit_wait=0 rate_limit_count=0 excluded=21.313474617898464 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T160818.943251Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T17:22:55Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 2/10 in 60s +[2026-11-04T17:23:55Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T172358.269820Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T172358.269820Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T172358.269820Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 58104) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 9af73195e9ce4c73aa5f583fa2d329f7-1 (codex/gpt-6-astra) execution_error: wall=4171.270s harness=3870.537s tokens=10729650 usage_complete=False decisions=64 executed_steps=820 steps_complete=False network_wait=13.313500046730042 rate_limit_wait=0 rate_limit_count=0 excluded=13.313500046730042 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T172358.269820Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T18:36:19Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 3/10 in 120s +[2026-11-04T18:38:19Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T183821.327829Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T183821.327829Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T183821.327829Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 52802) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 5fe478213c344e9095e7baf6caca946b-1 (codex/gpt-6-astra) execution_error: wall=3976.437s harness=3665.329s tokens=10806013 usage_complete=False decisions=63 executed_steps=840 steps_complete=False network_wait=71.31429321318865 rate_limit_wait=0 rate_limit_count=0 excluded=71.31429321318865 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T183821.327829Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T19:48:26Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 4/10 in 240s +[2026-11-04T19:52:27Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T195229.482083Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T195229.482083Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T195229.482083Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 38882) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode d8ccbd3106714a1cbaea8c4e19e3d7c7-1 (codex/gpt-6-astra) execution_error: wall=4194.467s harness=3866.840s tokens=12503092 usage_complete=False decisions=61 executed_steps=915 steps_complete=False network_wait=85.72194717824459 rate_limit_wait=0 rate_limit_count=0 excluded=85.72194717824459 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T195229.482083Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T21:06:22Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 5/10 in 300s +[2026-11-04T21:11:22Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T211124.732850Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T211124.732850Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T211124.732850Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 57292) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode c81dbe1ed41948e8bc4ab447833c737b-1 (codex/gpt-6-astra) ended: wall=1138.043s harness=934.502s tokens=6115257 usage_complete=False decisions=36 executed_steps=529 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T211124.732850Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode c52b80410da040bf88f09e8d60c6f30c-2 (codex/gpt-6-astra) execution_error: wall=4099.414s harness=3750.307s tokens=10883445 usage_complete=False decisions=64 executed_steps=925 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T211124.732850Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T22:41:54Z] GPU 1: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-04T22:42:24Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T224227.497931Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T224227.497931Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T224227.497931Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 59664) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 1c8794100c6e4c33873ce0a08c1f5d1f-2 (codex/gpt-6-astra) ended: wall=1069.818s harness=887.632s tokens=5942731 usage_complete=False decisions=38 executed_steps=514 steps_complete=True network_wait=9.854940131306648 rate_limit_wait=0 rate_limit_count=0 excluded=9.854940131306648 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T224227.497931Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 7e036da9fdd84288ab8221196a6808c8-0 (codex/gpt-6-astra) ended: wall=1675.718s harness=1451.791s tokens=8851591 usage_complete=False decisions=51 executed_steps=698 steps_complete=True network_wait=7.3072003573179245 rate_limit_wait=0 rate_limit_count=0 excluded=7.3072003573179245 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T224227.497931Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 58a59994b49c4371a85883d2cc253934-1 (codex/gpt-6-astra) execution_error: wall=3689.231s harness=3467.276s tokens=8928671 usage_complete=False decisions=59 executed_steps=682 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T224227.497931Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T00:34:01Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T00:34:31Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T003433.916250Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T003433.916250Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T003433.916250Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 53178) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode ff23fa58b5a94d21b7bd5a072b1c3427-1 (codex/gpt-6-astra) execution_error: wall=3979.920s harness=3712.824s tokens=9018722 usage_complete=False decisions=56 executed_steps=805 steps_complete=False network_wait=2.358540005981922 rate_limit_wait=0 rate_limit_count=0 excluded=2.358540005981922 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T003433.916250Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T01:43:30Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 2/10 in 60s +[2026-11-05T01:44:30Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T014432.682764Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T014432.682764Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T014432.682764Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47894) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode f25b0d51e685406fad9a06bb88c423f7-1 (codex/gpt-6-astra) execution_error: wall=3861.720s harness=3618.675s tokens=9067306 usage_complete=False decisions=57 executed_steps=701 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T014432.682764Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T02:51:42Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 3/10 in 120s +[2026-11-05T02:53:42Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T025345.760770Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T025345.760770Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T025345.760770Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 49380) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode c6b730b2e7634fc48cfced3d048b220e-1 (codex/gpt-6-astra) execution_error: wall=3778.984s harness=3553.569s tokens=8627645 usage_complete=False decisions=56 executed_steps=700 steps_complete=False network_wait=2.915047563612461 rate_limit_wait=0 rate_limit_count=0 excluded=2.915047563612461 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T025345.760770Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T03:59:42Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 4/10 in 240s +[2026-11-05T04:03:42Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T040344.799371Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T040344.799371Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T040344.799371Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 39230) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 70477fe45f084bb796e2b3af4927a60f-1 (codex/gpt-6-astra) execution_error: wall=3754.139s harness=3547.422s tokens=7544327 usage_complete=False decisions=59 executed_steps=647 steps_complete=False network_wait=10.143373891711235 rate_limit_wait=0 rate_limit_count=0 excluded=10.143373891711235 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T040344.799371Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T05:09:28Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 5/10 in 300s +[2026-11-05T05:14:28Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 42850) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 08771f0bbcb942aaa3f353ce78caba9f-1 (codex/gpt-6-astra) ended: wall=794.097s harness=503.991s tokens=3209314 usage_complete=False decisions=100 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 62cc42e394ed42d290cb8e0046ff5253-2 (codex/gpt-6-astra) execution_error: wall=3590.931s harness=3412.887s tokens=6628476 usage_complete=False decisions=57 executed_steps=519 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T051430.814136Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + self._check_cancelled() + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + f"Task instruction: {self._instruction}\nControl period: {self._control_dt} seconds. " + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + field = {"thread/start": "thread", "turn/start": "turn", + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise PolicyProtocolError(f"Malformed Codex RPC result: {method}") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T06:30:55Z] GPU 1: ReorientWhiteMugsTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T06:31:25Z] GPU 1: Starting worker at ReorientWhiteMugsTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 43704) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 5e9381c44f044e939fadd270507e63bf-2 (codex/gpt-6-astra) ended: wall=1216.447s harness=1041.426s tokens=4994895 usage_complete=False decisions=36 executed_steps=521 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode cef43d9b25e3480287aeba9f6bfaca93-0 (codex/gpt-6-astra) execution_error: wall=3588.025s harness=3416.769s tokens=7862862 usage_complete=False decisions=54 executed_steps=635 steps_complete=False network_wait=8.44767165184021 rate_limit_wait=0 rate_limit_count=0 excluded=8.44767165184021 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T063127.934388Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T07:55:09Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T07:55:39Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/0 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 60936) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 98185c09ebb14d1e8195c5dbfd6ae858-0 (codex/gpt-6-astra) execution_error: wall=3460.269s harness=3294.142s tokens=6771453 usage_complete=False decisions=54 executed_steps=607 steps_complete=False network_wait=27.44945016503334 rate_limit_wait=0 rate_limit_count=0 excluded=27.44945016503334 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T075541.614255Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T08:56:34Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s +[2026-11-05T08:57:34Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/0 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 38062) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 091d0598fcc647d38c6bb733a5047469-0 (codex/gpt-6-astra) ended: wall=1800.495s harness=1630.595s tokens=7415837 usage_complete=False decisions=46 executed_steps=624 steps_complete=True network_wait=3.7291766479611397 rate_limit_wait=0 rate_limit_count=0 excluded=3.7291766479611397 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 3f6a417d7c814f929d9d65f3ce031bde-1 (codex/gpt-6-astra) ended: wall=2082.047s harness=1895.529s tokens=8817164 usage_complete=False decisions=54 executed_steps=682 steps_complete=True network_wait=21.60324391722679 rate_limit_wait=0 rate_limit_count=0 excluded=21.60324391722679 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 87f3266c725e4b7ab9503a2ce60a457a-2 (codex/gpt-6-astra) execution_error: wall=4084.473s harness=3904.938s tokens=8123609 usage_complete=False decisions=53 executed_steps=669 steps_complete=False network_wait=158.4592332020402 rate_limit_wait=0 rate_limit_count=0 excluded=158.4592332020402 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T085737.518855Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T11:17:09Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T11:17:39Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 46956) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode c936df89e0e84651812294ca0a0e841a-2 (codex/gpt-6-astra) execution_error: wall=4568.716s harness=4353.818s tokens=8681223 usage_complete=False decisions=54 executed_steps=789 steps_complete=False network_wait=10.80874913930893 rate_limit_wait=0 rate_limit_count=0 excluded=10.80874913930893 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T111741.553681Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T12:36:41Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s +[2026-11-05T12:37:41Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 38120) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 928d4284cad245e79ed4bfe0e8a33b2f-2 (codex/gpt-6-astra) interrupted: wall=N/As harness=N/As tokens=3498466 usage_complete=False decisions=30 executed_steps=387 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/harness/20261105T123743.590800Z_eval.episodes.jsonl +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/client.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/client.log new file mode 100644 index 0000000000000000000000000000000000000000..7bcc056499426b11fcff649f0c5e16cd57fe6c70 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/client.log @@ -0,0 +1,4122 @@ +[2026-11-04T14:20:43Z] GPU 3: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:3 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261104_142255.log +2026-11-04T14:22:55Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-04T14:22:55Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-04T14:22:55Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-04T14:22:55Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-04T14:22:55Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-04T14:22:55Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-04T14:22:55Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-04T14:22:56Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-04T14:22:56Z [65ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-04T14:22:56Z [73ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-04T14:22:56Z [75ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-04T14:22:56Z [85ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-04T14:22:56Z [91ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-04T14:22:56Z [106ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-04T14:22:56Z [116ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-04T14:22:56Z [152ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-04T14:22:56Z [157ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-04T14:23:02Z [6,650ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:02Z [6,651ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:02Z [6,744ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-04T14:23:03Z [7,700ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:03Z [7,700ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:03Z [7,701ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 870940 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-04T14:23:07Z [11,534ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-04T14:23:07Z [11,534ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 893.67 4.00 4.13 4.34 5.26 6.56 5.76 5.73 + 1 4.69 906.85 5.33 4.60 4.49 5.60 8.19 8.05 + 2 15.36 3.50 902.66 5.04 5.96 6.10 5.64 7.08 + 3 16.71 8.48 5.70 899.02 4.19 4.29 5.53 5.88 + 4 20.55 22.19 13.40 7.47 901.62 6.47 6.47 6.47 + 5 18.52 19.86 20.24 21.93 8.32 922.75 10.70 6.51 + 6 20.51 16.10 8.70 7.98 7.60 11.07 904.31 12.02 + 7 14.28 20.54 20.41 20.38 22.30 22.58 19.70 922.92 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.37 11.50 44.02 22.26 12.82 11.87 11.26 11.26 + 1 11.59 1.41 21.57 112.76 11.87 11.62 11.95 10.80 + 2 12.45 11.51 1.36 132.55 20.90 11.71 11.52 11.55 + 3 19.67 19.23 19.97 1.34 29.51 16.61 18.27 16.65 + 4 16.35 14.27 15.67 53.05 1.38 13.56 17.78 15.85 + 5 14.35 13.61 13.07 22.84 122.25 1.48 14.49 10.54 + 6 232.68 251.47 233.17 236.05 356.99 328.06 1.52 306.83 + 7 109.97 130.78 87.63 46.42 40.18 108.64 143.54 1.47 + + CPU 0 1 2 3 4 5 6 7 + 0 2.83 9.39 14.64 8.00 7.34 7.39 7.44 7.21 + 1 8.08 2.59 7.98 8.01 7.38 7.21 7.31 7.02 + 2 8.29 8.04 2.51 8.12 8.20 7.34 7.51 7.29 + 3 8.32 8.08 8.24 2.57 7.54 7.32 7.52 7.20 + 4 7.83 7.63 7.72 7.76 2.29 6.87 7.06 6.80 + 5 7.65 7.46 7.53 7.48 6.97 2.24 7.05 6.72 + 6 7.83 7.76 7.92 7.60 6.97 6.98 2.36 6.83 + 7 7.53 7.43 7.50 7.65 6.73 6.83 6.96 2.33 +2026-11-04T14:23:14Z [18,160ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.5 GB/s. +2026-11-04T14:23:14Z [18,161ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 357.0 us. +2026-11-04T14:23:14Z [18,161ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-04T14:23:17Z [21,824ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:17Z [21,825ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:17Z [21,944ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:17Z [21,944ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:17Z [21,959ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:17Z [21,959ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:18Z [22,207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:18Z [22,207ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:18Z [22,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:18Z [22,214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:18Z [22,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-04T14:23:18Z [22,219ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-04T14:23:19Z [23,725ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-04T14:23:23Z [27,570ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-04T14:23:35Z [39,520ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-04T14:23:36Z [41,036ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-04T14:23:51Z [55,339ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-04T14:23:51Z [55,342ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-04T14:23:51Z [55,938ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-04T14:23:56Z [60,395ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-04T14:23:56Z [60,395ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-04T14:23:56Z [60,396ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T14:23:56Z [60,409ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-04T14:23:56Z [60,426ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-04T14:23:56Z [60,427ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 11 task(s): ['FruitsOnionToPlateTask', 'MarkerInMugTask', 'SmallPumpkinInBinTask', 'SpoonInMugTask', 'TakeSpatulaOffShelfTask', 'ReorientRedMugTask', 'FoodPacking1BoxesTask', 'BananasInBinThreeTotalTask', 'RubiksCubeThenBananaTask', 'FoodPacking1CansTask', 'BananaInBowlTask'] +2026-11-04T14:24:10Z [74,700ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5646c85e9b20>) + +2026-11-04T14:24:10Z [74,701ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5646c85e9b20>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T14:24:22Z [86,220ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.419109 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T14:24:28Z [92,145ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T14:24:28Z [92,145ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T14:24:28Z [92,179ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T14:24:28Z [92,179ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T14:24:28Z [92,188ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T14:24:28Z [92,195ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T14:24:28Z [92,474ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T14:24:28Z [92,499ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T14:24:35Z [99,828ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,829ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,829ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,848ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,848ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,868ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,868ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation. +2026-11-04T14:24:35Z [99,868ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,265ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,279ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,279ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,305ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,305ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,305ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,309ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,538ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation. +2026-11-04T14:24:36Z [100,538ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,296ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-04T14:24:38Z [102,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,671ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,672ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,674ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,680ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,680ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,681ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,682ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,682ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,682ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,683ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,683ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,686ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation. +2026-11-04T14:24:38Z [102,687ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 14.181142 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FruitsOnionToPlateTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the onion on the plate │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FruitsOnionToPlateTaskSceneEnvCfg │ +│ Attributes : semantics, vague, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T15:02:25Z [2,369,294ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.126680 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T15:02:29Z [2,373,447ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T15:02:29Z [2,373,448ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T15:02:29Z [2,373,457ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T15:02:29Z [2,373,457ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T15:02:29Z [2,373,465ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T15:02:29Z [2,373,473ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T15:02:29Z [2,373,491ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-04T15:02:29Z [2,373,875ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((330))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,875ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((330))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,886ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((335))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,886ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((335))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,893ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((338))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,894ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((338))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,901ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,907ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((342))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,907ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((342))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,933ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((356))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,933ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((356))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,942ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,942ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,947ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,947ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,964ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,964ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,996ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,373,996ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,374,009ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,374,010ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,374,026ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T15:02:29Z [2,374,026ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,080ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,080ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,081ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,174ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((468))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,174ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((468))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,866ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((330))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,866ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((330))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,867ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((335))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,867ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((335))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,867ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((338))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,867ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((338))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,868ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,868ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,868ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((342))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,868ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((342))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,870ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((356))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,870ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((356))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,870ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,870ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,871ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,871ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,872ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,872ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,873ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,873ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,874ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,874ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,875ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,875ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,876ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,877ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,877ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((468))' not available in the MDL representation. +2026-11-04T15:02:30Z [2,374,881ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((468))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 3.589525 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : MarkerInMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the whiteboard marker in the mug │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : MarkerInMugTaskSceneEnvCfg │ +│ Attributes : affordance, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs) + 0%| | 0/600 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T15:49:53Z [5,217,061ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.214359 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T15:49:57Z [5,222,011ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-04T15:49:58Z [5,222,122ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T15:49:58Z [5,222,123ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T15:49:58Z [5,222,131ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T15:49:58Z [5,222,132ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T15:49:58Z [5,222,140ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T15:49:58Z [5,222,147ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T15:49:58Z [5,222,534ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((561))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,534ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((561))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,566ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((576))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,566ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((576))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((594))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((594))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,715ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((620))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,716ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((620))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,730ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((628))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,730ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((628))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,748ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((634))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,748ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((634))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,748ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((634))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,770ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,770ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,770ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,832ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((648))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,832ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((648))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,886ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((660))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,886ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((660))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,978ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((686))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,978ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((686))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,222,978ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((686))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,223,004ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((692))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,223,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((692))' not available in the MDL representation. +2026-11-04T15:49:58Z [5,223,004ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((692))' not available in the MDL representation. +2026-11-04T15:49:59Z [5,224,032ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((561))' not available in the MDL representation. +2026-11-04T15:49:59Z [5,224,033ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((561))' not available in the MDL representation. +2026-11-04T15:49:59Z [5,224,038ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((620))' not available in the MDL representation. +2026-11-04T15:49:59Z [5,224,039ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((620))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,042ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((634))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,043ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((634))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,043ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((634))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,045ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,045ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,045ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,048ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((648))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,048ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((648))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((686))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,056ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((686))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,057ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((686))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,058ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((692))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,059ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((692))' not available in the MDL representation. +2026-11-04T15:50:00Z [5,224,059ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((692))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 4.925541 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : SmallPumpkinInBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the small pumpkin in the bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : SmallPumpkinInBinTaskSceneEnvCfg │ +│ Attributes : size, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T17:03:27Z [9,631,316ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.127238 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T17:03:32Z [9,636,649ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T17:03:32Z [9,636,649ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T17:03:32Z [9,636,658ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T17:03:32Z [9,636,659ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T17:03:32Z [9,636,667ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T17:03:32Z [9,636,674ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T17:03:33Z [9,637,338ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((913))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,339ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((913))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,363ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((928))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,363ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((928))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,374ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,378ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,378ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,386ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((938))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,386ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((938))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,394ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,394ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,414ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,415ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,428ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((958))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,428ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((958))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,431ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((959))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,431ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((959))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,451ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((969))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((969))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,551ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((1007))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,552ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((1007))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,552ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((1007))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((1061))' not available in the MDL representation. +2026-11-04T17:03:33Z [9,637,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((1061))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,194ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((913))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,194ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((913))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,196ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((928))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,196ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((928))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,196ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,197ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,197ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,197ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,198ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((938))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,198ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((938))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,199ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,199ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,200ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,200ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,201ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((958))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,201ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((958))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,201ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((959))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,201ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((959))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,202ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((969))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,203ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((969))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,207ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((1007))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((1007))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,208ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((1007))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,211ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((1061))' not available in the MDL representation. +2026-11-04T17:03:34Z [9,638,211ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((1061))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 4.910668 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : SpoonInMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the metal spoon that's in the wooden bowl in the mug │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : SpoonInMugTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55ce9b15fab0>) + +2026-11-04T18:14:09Z [60,338ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55ce9b15fab0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 9 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab. +[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping. +[RoboLab] Task `MarkerInMugTask` already done. Skipping. +[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T18:14:20Z [72,217ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.609442 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T18:14:27Z [79,014ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T18:14:27Z [79,015ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T18:14:27Z [79,080ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T18:14:27Z [79,080ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T18:14:27Z [79,088ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T18:14:27Z [79,096ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T18:14:28Z [79,342ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T18:14:28Z [79,365ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T18:14:31Z [83,250ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-04T18:14:31Z [83,251ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-04T18:14:31Z [83,271ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T18:14:31Z [83,271ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T18:14:31Z [83,271ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,320ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,320ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,325ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,325ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,330ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,330ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,355ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,355ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,447ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,447ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,453ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,454ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,470ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((179))' not available in the MDL representation. +2026-11-04T18:14:32Z [83,470ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((179))' not available in the MDL representation. +2026-11-04T18:14:33Z [84,716ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation. +2026-11-04T18:14:33Z [84,716ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation. +2026-11-04T18:14:34Z [85,476ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((238))' not available in the MDL representation. +2026-11-04T18:14:34Z [85,477ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((238))' not available in the MDL representation. +2026-11-04T18:14:34Z [85,538ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation. +2026-11-04T18:14:34Z [85,538ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation. +2026-11-04T18:14:34Z [86,048ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-04T18:14:35Z [86,372ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,374ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,374ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,376ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,376ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,379ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,379ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,381ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,381ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,382ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,382ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,382ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((179))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,383ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((179))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,385ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,385ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,387ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((238))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,387ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((238))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,390ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation. +2026-11-04T18:14:35Z [86,390ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 11.660409 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : SpoonInMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the metal spoon that's in the wooden bowl in the mug │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : SpoonInMugTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T19:26:22Z [4,393,952ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.316560 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T19:26:27Z [4,399,043ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T19:26:27Z [4,399,044ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T19:26:27Z [4,399,057ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T19:26:27Z [4,399,057ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T19:26:27Z [4,399,067ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T19:26:27Z [4,399,074ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T19:26:27Z [4,399,091ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-04T19:26:28Z [4,400,262ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-04T19:26:28Z [4,400,263ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-04T19:26:29Z [4,400,723ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((367))' not available in the MDL representation. +2026-11-04T19:26:29Z [4,400,723ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((367))' not available in the MDL representation. +2026-11-04T19:26:29Z [4,400,743ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-04T19:26:29Z [4,400,744ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,924ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,924ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,924ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,939ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,940ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,940ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,952ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,952ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,981ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,981ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,401,981ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,402,002ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((427))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,402,003ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((427))' not available in the MDL representation. +2026-11-04T19:26:30Z [4,402,003ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((427))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,442ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,442ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,444ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,444ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,444ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((402))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,445ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,445ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,445ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,445ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,447ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,447ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,447ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,448ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((427))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((427))' not available in the MDL representation. +2026-11-04T19:26:33Z [4,404,448ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((427))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 10.291759 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : TakeSpatulaOffShelfTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Take the spatula off the shelf and put it on the table │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : TakeSpatulaOffShelfTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55639b248dc0>) + +2026-11-04T20:24:20Z [68,695ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55639b248dc0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 12 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab. +[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping. +[RoboLab] Task `MarkerInMugTask` already done. Skipping. +[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping. +[RoboLab] Task `SpoonInMugTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T20:24:31Z [79,813ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.459477 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T20:24:37Z [85,466ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T20:24:37Z [85,466ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T20:24:37Z [85,539ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T20:24:37Z [85,539ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T20:24:37Z [85,547ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T20:24:37Z [85,555ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T20:24:37Z [85,765ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T20:24:37Z [85,804ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T20:24:43Z [91,496ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T20:24:43Z [91,497ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T20:24:45Z [93,087ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-04T20:24:45Z [93,087ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,393ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,393ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,393ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,614ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,615ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,615ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,629ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,629ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,629ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,732ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,732ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,732ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,749ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,749ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,753ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T20:24:46Z [94,753ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T20:24:47Z [95,934ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-04T20:24:48Z [96,228ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,229ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,231ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,231ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,233ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,233ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,233ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,235ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,235ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,235ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,236ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,236ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,237ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,238ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,239ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T20:24:48Z [96,239ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 16.050431 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : TakeSpatulaOffShelfTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Take the spatula off the shelf and put it on the table │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : TakeSpatulaOffShelfTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55b21a33fae0>) + +2026-11-04T21:31:33Z [59,266ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55b21a33fae0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 13 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab. +[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping. +[RoboLab] Task `MarkerInMugTask` already done. Skipping. +[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping. +[RoboLab] Task `SpoonInMugTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T21:31:44Z [70,027ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.455430 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T21:31:49Z [75,423ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T21:31:49Z [75,424ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T21:31:49Z [75,491ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T21:31:49Z [75,491ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T21:31:49Z [75,499ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T21:31:49Z [75,506ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T21:31:50Z [75,693ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T21:31:50Z [75,718ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T21:31:57Z [82,613ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-04T21:31:57Z [82,614ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-04T21:31:57Z [82,622ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation. +2026-11-04T21:31:57Z [82,623ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation. +2026-11-04T21:31:57Z [82,663ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation. +2026-11-04T21:31:57Z [82,664ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation. +2026-11-04T21:31:57Z [83,319ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T21:31:57Z [83,319ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T21:31:57Z [83,320ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T21:31:58Z [83,764ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-11-04T21:31:58Z [83,765ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-11-04T21:31:58Z [83,765ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-11-04T21:31:58Z [83,989ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T21:31:58Z [83,989ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T21:31:58Z [83,989ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T21:31:58Z [84,009ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T21:31:58Z [84,009ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T21:31:58Z [84,009ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T21:31:58Z [84,162ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((229))' not available in the MDL representation. +2026-11-04T21:31:58Z [84,162ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((229))' not available in the MDL representation. +2026-11-04T21:32:00Z [85,772ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-04T21:32:00Z [86,047ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,047ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,048ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,048ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,049ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,049ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,050ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,050ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,051ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,054ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,054ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,055ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,055ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,056ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,057ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +2026-11-04T21:32:00Z [86,057ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((171))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.666367 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : TakeSpatulaOffShelfTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Take the spatula off the shelf and put it on the table │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : TakeSpatulaOffShelfTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Task `TakeSpatulaOffShelfTask` run `0` already done. Skipping. +[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x558d6d8152a0>) + +2026-11-04T22:45:29Z [64,101ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x558d6d8152a0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 14 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab. +[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping. +[RoboLab] Task `MarkerInMugTask` already done. Skipping. +[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping. +[RoboLab] Task `SpoonInMugTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T22:45:40Z [75,301ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.432782 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T22:45:45Z [80,757ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T22:45:45Z [80,758ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T22:45:45Z [80,797ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T22:45:45Z [80,797ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T22:45:45Z [80,806ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T22:45:45Z [80,814ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T22:45:46Z [81,014ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T22:45:46Z [81,042ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T22:45:50Z [85,103ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((85))' not available in the MDL representation. +2026-11-04T22:45:50Z [85,103ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((85))' not available in the MDL representation. +2026-11-04T22:45:51Z [86,178ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation. +2026-11-04T22:45:51Z [86,178ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,198ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,199ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,247ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,247ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,248ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,256ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T22:45:53Z [88,256ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,184ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,184ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,184ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,210ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,210ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,210ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,501ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation. +2026-11-04T22:45:54Z [89,501ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation. +2026-11-04T22:45:55Z [90,757ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-04T22:45:56Z [91,050ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,051ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,056ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,058ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,058ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,058ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,059ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,059ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,061ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,061ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,061ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,062ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,062ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,062ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,064ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,065ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation. +2026-11-04T22:45:56Z [91,065ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.404345 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : TakeSpatulaOffShelfTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Take the spatula off the shelf and put it on the table │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : TakeSpatulaOffShelfTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Task `TakeSpatulaOffShelfTask` run `0` already done. Skipping. +[RoboLab] Task `TakeSpatulaOffShelfTask` run `1` already done. Skipping. +[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x558f936c4020>) + +2026-11-04T23:44:49Z [62,685ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x558f936c4020>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 14 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab. +[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping. +[RoboLab] Task `MarkerInMugTask` already done. Skipping. +[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping. +[RoboLab] Task `SpoonInMugTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T23:45:00Z [73,565ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.476373 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T23:45:05Z [78,991ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T23:45:05Z [78,992ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T23:45:05Z [79,064ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T23:45:05Z [79,064ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T23:45:05Z [79,072ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T23:45:05Z [79,079ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T23:45:05Z [79,263ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T23:45:05Z [79,285ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-04T23:45:10Z [84,371ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T23:45:10Z [84,371ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,256ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,257ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,257ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,316ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,317ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,317ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,359ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,359ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,359ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,384ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T23:45:11Z [85,385ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,112ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,112ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,146ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((180))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,147ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((180))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,147ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((180))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,165ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation. +2026-11-04T23:45:12Z [86,165ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation. +2026-11-04T23:45:15Z [89,229ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-04T23:45:16Z [89,515ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,515ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,517ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,518ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,518ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,519ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,519ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,520ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,521ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,521ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,521ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,523ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,523ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((180))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,524ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((180))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,524ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((180))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,525ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation. +2026-11-04T23:45:16Z [89,526ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.572647 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : TakeSpatulaOffShelfTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Take the spatula off the shelf and put it on the table │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : TakeSpatulaOffShelfTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Task `TakeSpatulaOffShelfTask` run `0` already done. Skipping. +[RoboLab] Task `TakeSpatulaOffShelfTask` run `1` already done. Skipping. +[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-04T23:59:07Z [920,956ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.227344 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-04T23:59:09Z [923,132ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T23:59:09Z [923,132ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T23:59:09Z [923,140ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-04T23:59:09Z [923,141ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T23:59:09Z [923,149ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-04T23:59:09Z [923,156ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-04T23:59:09Z [923,174ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-04T23:59:10Z [923,558ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,558ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,568ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,568ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,575ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,575ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,591ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,592ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,604ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,604ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,632ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T23:59:10Z [923,632ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,288ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,288ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,289ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,289ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,290ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,290ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,291ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,291ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,292ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,292ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,293ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +2026-11-04T23:59:10Z [924,293ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 3.221804 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : ReorientRedMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the red mug upright so that the opening is facing upwards. │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : ReorientRedMugTaskSceneEnvCfg │ +│ Attributes : reorientation, color, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x556dcb3e2c40>) + +2026-11-05T01:02:21Z [58,743ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x556dcb3e2c40>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 15 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/robolab. +[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping. +[RoboLab] Task `MarkerInMugTask` already done. Skipping. +[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping. +[RoboLab] Task `SpoonInMugTask` already done. Skipping. +[RoboLab] Task `TakeSpatulaOffShelfTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T01:02:32Z [69,809ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.470480 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T01:02:37Z [74,898ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T01:02:37Z [74,899ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T01:02:38Z [74,974ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T01:02:38Z [74,975ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T01:02:38Z [74,984ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T01:02:38Z [74,991ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T01:02:38Z [75,174ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T01:02:38Z [75,196ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T01:02:41Z [78,210ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,210ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,706ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,706ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,728ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,728ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,737ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,737ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,753ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-05T01:02:41Z [78,753ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-05T01:02:42Z [78,989ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation. +2026-11-05T01:02:42Z [78,990ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,460ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T01:02:45Z [82,741ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,741ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,745ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,746ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,747ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,747ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,747ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,748ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,748ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,748ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,750ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation. +2026-11-05T01:02:45Z [82,750ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 12.564348 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : ReorientRedMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the red mug upright so that the opening is facing upwards. │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : ReorientRedMugTaskSceneEnvCfg │ +│ Attributes : reorientation, color, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T01:50:30Z [2,947,180ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.206858 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T01:50:32Z [2,949,405ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T01:50:32Z [2,949,405ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T01:50:32Z [2,949,415ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T01:50:32Z [2,949,415ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T01:50:32Z [2,949,423ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T01:50:32Z [2,949,431ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T01:50:32Z [2,949,449ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-05T01:50:34Z [2,950,921ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-05T01:50:34Z [2,950,921ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-05T01:50:35Z [2,952,127ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation. +2026-11-05T01:50:35Z [2,952,128ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation. +2026-11-05T01:50:35Z [2,952,185ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation. +2026-11-05T01:50:35Z [2,952,185ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation. +2026-11-05T01:50:35Z [2,952,323ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((455))' not available in the MDL representation. +2026-11-05T01:50:35Z [2,952,324ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((455))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,027ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,027ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((341))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,030ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,030ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,032ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,032ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,035ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((455))' not available in the MDL representation. +2026-11-05T01:50:36Z [2,953,035ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((455))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 5.774662 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FoodPacking1BoxesTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Pack boxed foods into the bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FoodPacking1BoxesTaskSceneEnvCfg │ +│ Attributes : semantics, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T02:37:28Z [5,765,306ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.214227 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T02:37:32Z [5,769,740ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-05T02:37:32Z [5,769,846ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T02:37:32Z [5,769,847ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T02:37:32Z [5,769,856ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T02:37:32Z [5,769,856ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T02:37:32Z [5,769,864ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T02:37:32Z [5,769,872ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T02:37:36Z [5,773,436ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((708))' not available in the MDL representation. +2026-11-05T02:37:36Z [5,773,436ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((708))' not available in the MDL representation. +2026-11-05T02:37:37Z [5,774,081ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((708))' not available in the MDL representation. +2026-11-05T02:37:37Z [5,774,081ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((708))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 8.698283 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BananasInBinThreeTotalTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Make sure there are 3 (three) bananas in the grey bin. │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BananasInBinThreeTotalTaskSceneEnvCfg │ +│ Attributes : semantics, counting, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BananasInBinThreeTotalTask_0: 'Make sure there are 3 (three) bananas in the grey bin.' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T03:04:50Z [7,407,458ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.185737 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T03:04:52Z [7,409,900ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T03:04:52Z [7,409,901ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T03:04:53Z [7,409,911ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T03:04:53Z [7,409,911ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T03:04:53Z [7,409,919ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T03:04:53Z [7,409,927ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T03:04:53Z [7,410,322ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((860))' not available in the MDL representation. +2026-11-05T03:04:53Z [7,410,322ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((860))' not available in the MDL representation. +2026-11-05T03:04:53Z [7,410,381ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((891))' not available in the MDL representation. +2026-11-05T03:04:53Z [7,410,382ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((891))' not available in the MDL representation. +2026-11-05T03:04:53Z [7,410,487ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((950))' not available in the MDL representation. +2026-11-05T03:04:53Z [7,410,487ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((950))' not available in the MDL representation. +2026-11-05T03:04:54Z [7,411,044ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((860))' not available in the MDL representation. +2026-11-05T03:04:54Z [7,411,045ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((860))' not available in the MDL representation. +2026-11-05T03:04:54Z [7,411,047ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((891))' not available in the MDL representation. +2026-11-05T03:04:54Z [7,411,047ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((891))' not available in the MDL representation. +2026-11-05T03:04:54Z [7,411,051ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((950))' not available in the MDL representation. +2026-11-05T03:04:54Z [7,411,051ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((950))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 3.561882 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : RubiksCubeThenBananaTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the cube then the banana in the bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : RubiksCubeThenBananaTaskSceneEnvCfg │ +│ Attributes : conjunction, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T03:52:00Z [10,237,154ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.212581 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T03:52:12Z [10,249,837ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T03:52:12Z [10,249,837ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T03:52:12Z [10,249,846ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T03:52:12Z [10,249,847ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T03:52:12Z [10,249,855ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T03:52:12Z [10,249,863ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T03:52:13Z [10,250,405ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1069))' not available in the MDL representation. +2026-11-05T03:52:13Z [10,250,405ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1069))' not available in the MDL representation. +2026-11-05T03:52:14Z [10,251,048ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1118))' not available in the MDL representation. +2026-11-05T03:52:14Z [10,251,049ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1118))' not available in the MDL representation. +2026-11-05T03:52:14Z [10,251,072ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1133))' not available in the MDL representation. +2026-11-05T03:52:14Z [10,251,072ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1133))' not available in the MDL representation. +2026-11-05T03:52:14Z [10,251,510ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1182))' not available in the MDL representation. +2026-11-05T03:52:14Z [10,251,510ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1182))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,346ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1069))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,347ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1069))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,349ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1118))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,350ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1118))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1133))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1133))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,354ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1182))' not available in the MDL representation. +2026-11-05T03:52:15Z [10,252,354ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1182))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.106069 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FoodPacking1CansTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Pack canned foods into the bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FoodPacking1CansTaskSceneEnvCfg │ +│ Attributes : semantics, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T04:39:14Z [13,070,911ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.189991 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T04:39:16Z [13,073,364ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T04:39:16Z [13,073,365ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T04:39:16Z [13,073,374ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T04:39:16Z [13,073,374ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T04:39:16Z [13,073,382ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T04:39:16Z [13,073,390ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T04:39:16Z [13,073,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1366))' not available in the MDL representation. +2026-11-05T04:39:16Z [13,073,852ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1366))' not available in the MDL representation. +2026-11-05T04:39:17Z [13,074,001ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation. +2026-11-05T04:39:17Z [13,074,002ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation. +2026-11-05T04:39:17Z [13,074,694ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1366))' not available in the MDL representation. +2026-11-05T04:39:17Z [13,074,695ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1366))' not available in the MDL representation. +2026-11-05T04:39:17Z [13,074,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation. +2026-11-05T04:39:17Z [13,074,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 3.717319 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BananaInBowlTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Pick up the banana and place it in the bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BananaInBowlTaskSceneEnvCfg │ +│ Attributes : semantics, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs) + 0%| | 0/750 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 542.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 11.79 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52632) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52632) closed diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2df311280593aa9ef6fb99a645882fac65f5d44e --- /dev/null +++ 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/data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 717.0 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.92 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open 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--git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a922f4c14e4018bc6aa9bdd4dbc3c663f54b9c28 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9d9a8930becffa3f9beae24233c517e3883253f8adb8f86ef2d829d620635e6 +size 3997 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b6827d33287f0479ca7e99b5ead78da40698ab1 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d903718e6dd091aa09e63fd92dbdb0e6f25f5eddd99cf287c2b01e809f0b6129 +size 254029 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..9cda563e2b03fc4853da7caa93844bfb3e8eb47c --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.vla.log @@ -0,0 +1,18 @@ +INFO:root:Loading model... +INFO:2026-11-04 20:22:38,611:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-04 20:22:38,627:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 702.6 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.11 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45698) opened +INFO:websockets.server:server closing diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0001/events.jsonl 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b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0002/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e81158c4f9721600020c89518b388e57cddf0630d92864d4e97b7caa77ec1bf +size 103198185 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0002/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ce1a20b83d583859f71ff38a07f4c0f0630edf2 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0002/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3840df1e4b4260beed2431beb76ecb3f6d3f61d417962ad7232b3e4a65206dbf +size 23720 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval/episode-0002/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c141c84a57922a7a9dc50cc6c181cd35d974762 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69ac2dfcca8059dcbca07b19f3cf8802d4409b8136ae7548ed89fb1a997a9e5f +size 4009 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f76045209f3dd0fa604fc0e68e1871c3d6f5da5 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc7998321249756ad3d75c7fa9692cfd19d2a912a50dc2e1b883b9957f77ce6e +size 284215 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..2fd23278619717fc78cc481fcb6c81bda5d795cf --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.vla.log @@ -0,0 +1,18 @@ +INFO:root:Loading model... +INFO:2026-11-04 21:30:01,474:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-04 21:30:01,484:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 717.2 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.92 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44762) opened +INFO:websockets.server:server closing diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd2c4de957a7585f4ca242f683b97750bf58b25b --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:684892c498a2262f9a2b917af8fb015b939f8b1211cc0d9ce47a94044c952e08 +size 46805838 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0001/network_timing.jsonl 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b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0002/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d663e4cb5fb9f8a4f19f2d7dfd456f846011b7a10961dd7bdd76ff57d8c4323 +size 26252 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval/episode-0002/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b5478b4d9935955cd193d1fbc2a4178e2b696ec --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6afc56d8bc309f1194c22f9b5d17549ae1748b09a98017bc517457704c278e51 +size 2049 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4996dab6f113f63b1571335f942d690deda22d0 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d6d3e8c7aa71ff47403110b771e455b61e33c6bb56e25af214482b9bc03d05c +size 177513 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..76f10873249fc71349d0adb7d2a2add9a9ed50ed --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.vla.log @@ -0,0 +1,20 @@ +INFO:root:Loading model... +INFO:2026-11-04 22:43:47,803:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-04 22:43:47,808:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 714.1 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.96 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50866) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50866) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc842a0461c677ef8240cbfd450270520056ee24 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8b7fe247454d62da59dbacb6155f35eff1a6152ce0be3ddcc243aa7d4692912 +size 102833728 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..013fa8f6e2a498b6ceccb3429641f86f7ec760f5 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbe29eeb339f819396f92c059cdb0617be2c75455fdd65789dbca646a01904cc +size 29944 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ca56ca33b9fc1c0d04b69642d326e74e8fca679 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a6b24a8ded364db20e38bbe70a0b08476b9cf3cd911352dd55ed6516559cf78 +size 4005 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19a23456b5e44ded19ad01c58bd112c7804ec04d --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b6855c957ccb3a91269f1b3b33e9963be97b408e8b3d71dbb826bb46422473e +size 321689 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..e412d9ff2119c14c0f98eba1c36352654e3e17a9 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.vla.log @@ -0,0 +1,18 @@ +INFO:root:Loading model... +INFO:2026-11-04 23:43:07,887:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-04 23:43:07,900:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 714.1 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.96 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53310) opened +INFO:websockets.server:server closing diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..476180d3ad8976cd97ef56fc1ac4c83f04a0a23c --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b326ebc79fbd0a570188c0934ada2a66e02b6e49c8f74ea5da8349dfb2bb1fb7 +size 58512028 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0001/network_timing.jsonl 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b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0002/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0ec55943172146eded12b5a8babaca70437944a6949b83d898473ed6e5905d9 +size 31642 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval/episode-0002/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27db47e2d2ecf44b1549fcbd3152dfc1cb980836 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a4b2f13931cd549e5713d3658faf5e1d16c1a4d4f62e975c13aeade216e8326 +size 35782 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cee6b427c79f8decbc2a85f5c37ff11aae234f55 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:374a210fc45a3056970e21b13a19ffdb2efa062c8c75974046f6501059799ff1 +size 1974317 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..96517dac0df4932e44ab50293aad0fe0f39b58eb --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.vla.log @@ -0,0 +1,20 @@ +INFO:root:Loading model... +INFO:2026-11-05 01:00:49,676:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 01:00:49,690:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 681.6 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.39 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50608) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50608) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c86a766b6723037d5ed0521922ddfa79742dd3d --- /dev/null +++ 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{"step": 123, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 137, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 138, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'fork_small'", "score": 0.0}, {"step": 188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..1f6a5be99cbbda6d1e6dd60c0c4c3e718292c819 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 244, "events": [{"step": 60, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 222, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 222, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 235, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 239, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 244, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 1.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..7027ba2ed92ad27bbc093f1af0bfe8d58f3e0cbb --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 2, "success": true, "final_step": 289, "events": [{"step": 45, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.211m", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 289, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ca677ee45bc52baee9b7c2f14d9c1c35baace4b5 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b6ee7d5f12c173dd44c45253e9630870f1338dfd4a4b81e154c689e5a65660e +size 393855 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/TakeSpatulaOffShelfTask/run_1.hdf5 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sha256:ef68bda0fd722838f3853b2075bc3823b78866c2fbfaff417da63e0e9ed10339 +size 455946 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a043c15e7ac15c7681313495c8e77e3f33c84675 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cbc91da2d5ad65a0127fcefa97824d04443bc3a8fd3e0dda44c36948f1e03f0 +size 38187 diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_3/server.log b/harness_robolab_exploration/embo_refine_vla/gpu_3/server.log new file mode 100644 index 0000000000000000000000000000000000000000..327cfccc473dff2a69775135f6e0a6c7c8a0b228 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/gpu_3/server.log @@ -0,0 +1,384 @@ +[2026-11-04T14:20:43Z] GPU 3: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 50264) opened +INFO:websockets.server:connection rejected (200 OK) +INFO:src.evaluation.robolab_bench.episode_stats:Episode 2a40e20209de457cac0668acd0af00e0-0 (codex/gpt-6-astra) ended: wall=609.902s harness=442.101s tokens=2091865 usage_complete=False decisions=17 executed_steps=250 steps_complete=True network_wait=6.732109993696213 rate_limit_wait=0 rate_limit_count=0 excluded=6.732109993696213 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8ac1c2570765451a81641c2d33494af8-1 (codex/gpt-6-astra) ended: wall=1015.363s harness=786.452s tokens=3947633 usage_complete=False decisions=29 executed_steps=339 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 74877272c72244a39296b303a0848f1e-2 (codex/gpt-6-astra) ended: wall=527.411s harness=382.426s tokens=1878878 usage_complete=True decisions=15 executed_steps=215 steps_complete=True network_wait=13.466584660112858 rate_limit_wait=0 rate_limit_count=0 excluded=13.466584660112858 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode dd72a656145e4df49be4edbfd6b4e685-0 (codex/gpt-6-astra) ended: wall=1031.321s harness=825.572s tokens=3245874 usage_complete=False decisions=30 executed_steps=352 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode c6f8f672f7b543b09104c012ff7643f3-1 (codex/gpt-6-astra) ended: wall=620.297s harness=468.221s tokens=2899519 usage_complete=True decisions=18 executed_steps=256 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8599473841404bfea8ff2ff9c9266bbb-2 (codex/gpt-6-astra) ended: wall=1084.671s harness=860.521s tokens=4349418 usage_complete=False decisions=29 executed_steps=380 steps_complete=True network_wait=13.220972001552582 rate_limit_wait=0 rate_limit_count=0 excluded=13.220972001552582 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 025eb520816e45328b7a910fc1331c07-0 (codex/gpt-6-astra) ended: wall=817.718s harness=598.970s tokens=2526033 usage_complete=False decisions=24 executed_steps=290 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode dc128edc847546e6b2ab08dad762c428-1 (codex/gpt-6-astra) ended: wall=1412.865s harness=1094.630s tokens=5097372 usage_complete=False decisions=37 executed_steps=424 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 90fdfc933cc342d9839a6a494da1e028-2 (codex/gpt-6-astra) ended: wall=2075.646s harness=1551.858s tokens=7818875 usage_complete=False decisions=58 executed_steps=702 steps_complete=True network_wait=3.445513740181923 rate_limit_wait=0 rate_limit_count=0 excluded=3.445513740181923 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode ffc52d75dbf245ddbc9eb27d45812278-0 (codex/gpt-6-astra) execution_error: wall=4069.942s harness=3721.787s tokens=7880420 usage_complete=False decisions=52 executed_steps=640 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T142045.964747Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T18:11:30Z] GPU 3: SpoonInMugTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-04T18:12:00Z] GPU 3: Starting worker at SpoonInMugTask/0 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 40370) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode b5a85eed932c4be18b3ed6a9a619bcf4-0 (codex/gpt-6-astra) ended: wall=1737.971s harness=1450.066s tokens=5776519 usage_complete=False decisions=52 executed_steps=549 steps_complete=True network_wait=15.122795067727566 rate_limit_wait=0 rate_limit_count=0 excluded=15.122795067727566 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8e128af33ef6416cbd17680e04f0d047-1 (codex/gpt-6-astra) ended: wall=1175.633s harness=939.376s tokens=5081613 usage_complete=False decisions=32 executed_steps=446 steps_complete=True network_wait=53.30300635099411 rate_limit_wait=0 rate_limit_count=0 excluded=53.30300635099411 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 88ef0d27d41d48ac9cae8268656cf097-2 (codex/gpt-6-astra) ended: wall=1227.747s harness=962.642s tokens=5576287 usage_complete=False decisions=33 executed_steps=484 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode b34f954f6fa64239b28d78d4d59afd53-0 (codex/gpt-6-astra) execution_error: wall=3267.442s harness=3056.795s tokens=5356742 usage_complete=False decisions=56 executed_steps=560 steps_complete=False network_wait=24.510626174509525 rate_limit_wait=0 rate_limit_count=0 excluded=24.510626174509525 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T181202.946404Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T20:21:31Z] GPU 3: TakeSpatulaOffShelfTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-04T20:22:01Z] GPU 3: Starting worker at TakeSpatulaOffShelfTask/0 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 54086) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 334b3c66f3a54d91b0dadc87f577a3d4-0 (codex/gpt-6-astra) ended: wall=506.450s harness=436.098s tokens=2247899 usage_complete=True decisions=20 executed_steps=189 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 1c0ac8a7af844ea5b49e880b46da332d-1 (codex/gpt-6-astra) execution_error: wall=3309.767s harness=3120.233s tokens=6051253 usage_complete=False decisions=56 executed_steps=518 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T202204.028296Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T21:28:56Z] GPU 3: TakeSpatulaOffShelfTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-04T21:29:26Z] GPU 3: Starting worker at TakeSpatulaOffShelfTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51106) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 64c6560e41044f748646002a115858f1-1 (codex/gpt-6-astra) ended: wall=641.577s harness=555.403s tokens=2859000 usage_complete=True decisions=23 executed_steps=244 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode bb1c96358d42496a8e97293633d134e8-2 (codex/gpt-6-astra) execution_error: wall=3557.472s harness=3347.272s tokens=6090131 usage_complete=False decisions=55 executed_steps=601 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T212929.243676Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T22:42:35Z] GPU 3: TakeSpatulaOffShelfTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-04T22:43:05Z] GPU 3: Starting worker at TakeSpatulaOffShelfTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 56760) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 6de07acc2bc6440ab719bd0ac87148e6-2 (codex/gpt-6-astra) execution_error: wall=3289.465s harness=3108.636s tokens=6057028 usage_complete=False decisions=54 executed_steps=495 steps_complete=False network_wait=37.38146883994341 rate_limit_wait=0 rate_limit_count=0 excluded=37.38146883994341 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T224308.108783Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-04T23:41:30Z] GPU 3: TakeSpatulaOffShelfTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s +[2026-11-04T23:42:30Z] GPU 3: Starting worker at TakeSpatulaOffShelfTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 54146) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 25b31ae849204318b79ddb5b4e42924e-2 (codex/gpt-6-astra) ended: wall=797.419s harness=692.041s tokens=3238944 usage_complete=False decisions=30 executed_steps=289 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 2ce9b3cee3504400a40c039f7c517884-0 (codex/gpt-6-astra) execution_error: wall=3626.636s harness=3401.275s tokens=8893776 usage_complete=False decisions=57 executed_steps=680 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261104T234232.971343Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 495, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 625, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1169, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1176, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T00:59:43Z] GPU 3: ReorientRedMugTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T01:00:13Z] GPU 3: Starting worker at ReorientRedMugTask/0 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51368) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 9d4f6edf9fb34311a7985d7887e07d7e-0 (codex/gpt-6-astra) ended: wall=1524.467s harness=1304.237s tokens=7806622 usage_complete=False decisions=45 executed_steps=633 steps_complete=True network_wait=31.87130905687809 rate_limit_wait=0 rate_limit_count=0 excluded=31.87130905687809 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 7cfddf410be74e03a31ac4ff5b24428d-1 (codex/gpt-6-astra) ended: wall=394.489s harness=321.758s tokens=1758893 usage_complete=True decisions=14 executed_steps=210 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode d645e48cbb374281869a9f561967ab9f-2 (codex/gpt-6-astra) ended: wall=826.474s harness=709.594s tokens=4041506 usage_complete=True decisions=26 executed_steps=331 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode bc73c38d5ee245d285c3f65cfd697745-0 (codex/gpt-6-astra) ended: wall=569.511s harness=491.757s tokens=2466479 usage_complete=True decisions=22 executed_steps=265 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8ad77a032f934e4ab8bc6fdcba17a6dc-1 (codex/gpt-6-astra) ended: wall=1463.662s harness=1301.478s tokens=6837408 usage_complete=False decisions=46 executed_steps=564 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 2ff6d3adcaea4c1b9c3533cac4cd06b6-2 (codex/gpt-6-astra) ended: wall=686.818s harness=584.917s tokens=3718805 usage_complete=False decisions=24 executed_steps=346 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 18857db13a6c41198fac78762db1b307-0 (codex/gpt-6-astra) ended: wall=411.501s harness=339.216s tokens=2361976 usage_complete=True decisions=15 executed_steps=215 steps_complete=True network_wait=17.97138135880232 rate_limit_wait=0 rate_limit_count=0 excluded=17.97138135880232 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 2caae9e69c5c48439da89e827f5e583e-1 (codex/gpt-6-astra) ended: wall=821.756s harness=685.601s tokens=4561809 usage_complete=False decisions=29 executed_steps=413 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 995408b7b8dd4793af0f88539680f704-2 (codex/gpt-6-astra) ended: wall=307.800s harness=254.350s tokens=1659026 usage_complete=True decisions=11 executed_steps=158 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 9f5d033392524dbcbc6671a547a82d85-0 (codex/gpt-6-astra) ended: wall=1057.953s harness=934.678s tokens=5213258 usage_complete=False decisions=33 executed_steps=458 steps_complete=True network_wait=129.95105960965157 rate_limit_wait=0 rate_limit_count=0 excluded=129.95105960965157 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 72fc8711f3764c7ebafd22195de44747-1 (codex/gpt-6-astra) ended: wall=963.088s harness=836.698s tokens=3601299 usage_complete=False decisions=32 executed_steps=461 steps_complete=True network_wait=6.395400084555149 rate_limit_wait=0 rate_limit_count=0 excluded=6.395400084555149 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 272cd1a941a744c4b6501e7a70d5795d-2 (codex/gpt-6-astra) ended: wall=576.417s harness=497.043s tokens=2656934 usage_complete=True decisions=20 executed_steps=286 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 4038b3b42f1a493aa30a462bba32dd44-0 (codex/gpt-6-astra) ended: wall=1087.804s harness=949.425s tokens=5434187 usage_complete=False decisions=39 executed_steps=472 steps_complete=True network_wait=5.833310514688492 rate_limit_wait=0 rate_limit_count=0 excluded=5.833310514688492 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode b787f941a9634e47906a416c9cd4681f-1 (codex/gpt-6-astra) ended: wall=646.763s harness=551.158s tokens=2808217 usage_complete=False decisions=23 executed_steps=330 steps_complete=True network_wait=19.923887714743614 rate_limit_wait=0 rate_limit_count=0 excluded=19.923887714743614 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode b494bd6442b44edfa7ec5e12dc51c724-2 (codex/gpt-6-astra) ended: wall=961.044s harness=835.272s tokens=3876716 usage_complete=False decisions=33 executed_steps=425 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8caf858006c344eb9f3cb1f0b54c9089-0 (codex/gpt-6-astra) ended: wall=371.378s harness=319.384s tokens=1752493 usage_complete=True decisions=14 executed_steps=196 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 31a4da42b6564ba8a87442aa9039fcfd-1 (codex/gpt-6-astra) ended: wall=490.836s harness=423.496s tokens=2841736 usage_complete=True decisions=18 executed_steps=256 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 0cf0c6f5431c4edab371de4fda8cc80f-2 (codex/gpt-6-astra) ended: wall=732.769s harness=644.187s tokens=3848433 usage_complete=True decisions=25 executed_steps=340 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_3/harness/20261105T010015.770180Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51368) closed +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla/progress.log b/harness_robolab_exploration/embo_refine_vla/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..9c79fa66d278e68d7f947cf82c07530180b9aecc --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/progress.log @@ -0,0 +1,66 @@ +[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage. +[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A +[Batch] GPU 3 finished FruitsOnionToPlateTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 442.101s | Mean Wall 609.902s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 448.833s | Mean Raw Wall 616.634s +[Batch] GPU 3 finished FruitsOnionToPlateTask/1: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 614.277s | Mean Wall 812.632s | Mean Tokens N/A (0/2 complete) | Mean Raw Harness 617.643s | Mean Raw Wall 815.998s +[Batch] GPU 1 finished PlasticBottlesInSquarePailTask/0: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 947.251s | Mean Wall 1161.888s | Mean Tokens N/A (0/3 complete) | Mean Raw Harness 950.519s | Mean Raw Wall 1165.156s +[Batch] GPU 3 finished FruitsOnionToPlateTask/2: SUCCESS | Tasks 1/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 806.045s | Mean Wall 1003.269s | Mean Tokens 1,878,878.0 (1/4 complete) | Mean Raw Harness 811.863s | Mean Raw Wall 1009.086s +[Batch] GPU 3 finished MarkerInMugTask/0: SUCCESS | Tasks 1/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 809.950s | Mean Wall 1008.879s | Mean Tokens 1,878,878.0 (1/5 complete) | Mean Raw Harness 814.604s | Mean Raw Wall 1013.533s +[Batch] GPU 3 finished MarkerInMugTask/1: SUCCESS | Tasks 1/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 752.996s | Mean Wall 944.116s | Mean Tokens 2,389,198.5 (2/6 complete) | Mean Raw Harness 756.874s | Mean Raw Wall 947.994s +[Batch] GPU 3 finished MarkerInMugTask/2: SUCCESS | Tasks 2/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 768.356s | Mean Wall 964.195s | Mean Tokens 2,389,198.5 (2/7 complete) | Mean Raw Harness 773.569s | Mean Raw Wall 969.408s +[Batch] GPU 3 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 2/20 | Episodes 8/60 | Success 100.00% (8/8) | Mean Harness 747.183s | Mean Wall 945.885s | Mean Tokens 2,389,198.5 (2/8 complete) | Mean Raw Harness 751.744s | Mean Raw Wall 950.447s +[Batch] GPU 3 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 2/20 | Episodes 9/60 | Success 100.00% (9/9) | Mean Harness 785.788s | Mean Wall 997.772s | Mean Tokens 2,389,198.5 (2/9 complete) | Mean Raw Harness 789.843s | Mean Raw Wall 1001.826s +[Batch] GPU 3 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 3/20 | Episodes 10/60 | Success 100.00% (10/10) | Mean Harness 862.395s | Mean Wall 1105.559s | Mean Tokens 2,389,198.5 (2/10 complete) | Mean Raw Harness 866.389s | Mean Raw Wall 1109.553s +[Batch] GPU 3 finished SpoonInMugTask/0: SUCCESS | Tasks 3/20 | Episodes 11/60 | Success 100.00% (11/11) | Mean Harness 915.820s | Mean Wall 1163.051s | Mean Tokens 2,389,198.5 (2/11 complete) | Mean Raw Harness 920.825s | Mean Raw Wall 1168.057s +[Batch] GPU 3 finished SpoonInMugTask/1: SUCCESS | Tasks 3/20 | Episodes 12/60 | Success 100.00% (12/12) | Mean Harness 917.783s | Mean Wall 1164.100s | Mean Tokens 2,389,198.5 (2/12 complete) | Mean Raw Harness 926.813s | Mean Raw Wall 1173.130s +[Batch] GPU 3 finished SpoonInMugTask/2: SUCCESS | Tasks 4/20 | Episodes 13/60 | Success 100.00% (13/13) | Mean Harness 921.234s | Mean Wall 1168.996s | Mean Tokens 2,389,198.5 (2/13 complete) | Mean Raw Harness 929.569s | Mean Raw Wall 1177.331s +[Batch] GPU 3 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 4/20 | Episodes 14/60 | Success 100.00% (14/14) | Mean Harness 886.581s | Mean Wall 1121.671s | Mean Tokens 2,342,098.7 (3/14 complete) | Mean Raw Harness 894.321s | Mean Raw Wall 1129.411s +[Batch] GPU 1 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 4/20 | Episodes 15/60 | Success 100.00% (15/15) | Mean Harness 889.776s | Mean Wall 1122.762s | Mean Tokens 2,342,098.7 (3/15 complete) | Mean Raw Harness 897.000s | Mean Raw Wall 1129.987s +[Batch] GPU 3 finished TakeSpatulaOffShelfTask/1: SUCCESS | Tasks 4/20 | Episodes 16/60 | Success 100.00% (16/16) | Mean Harness 868.877s | Mean Wall 1092.688s | Mean Tokens 2,471,324.0 (4/16 complete) | Mean Raw Harness 875.650s | Mean Raw Wall 1099.461s +[Batch] GPU 1 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 5/20 | Episodes 17/60 | Success 100.00% (17/17) | Mean Harness 869.981s | Mean Wall 1091.343s | Mean Tokens 2,471,324.0 (4/17 complete) | Mean Raw Harness 876.935s | Mean Raw Wall 1098.297s +[Batch] GPU 1 finished ReorientWhiteMugsTask/0: SUCCESS | Tasks 5/20 | Episodes 18/60 | Success 100.00% (18/18) | Mean Harness 902.303s | Mean Wall 1123.808s | Mean Tokens 2,471,324.0 (4/18 complete) | Mean Raw Harness 909.277s | Mean Raw Wall 1130.782s +[Batch] GPU 3 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 6/20 | Episodes 19/60 | Success 100.00% (19/19) | Mean Harness 891.237s | Mean Wall 1106.630s | Mean Tokens 2,471,324.0 (4/19 complete) | Mean Raw Harness 897.844s | Mean Raw Wall 1113.236s +[Batch] GPU 3 finished ReorientRedMugTask/0: SUCCESS | Tasks 6/20 | Episodes 20/60 | Success 100.00% (20/20) | Mean Harness 911.887s | Mean Wall 1127.522s | Mean Tokens 2,471,324.0 (4/20 complete) | Mean Raw Harness 919.757s | Mean Raw Wall 1135.392s +[Batch] GPU 3 finished ReorientRedMugTask/1: SUCCESS | Tasks 6/20 | Episodes 21/60 | Success 100.00% (21/21) | Mean Harness 883.786s | Mean Wall 1092.615s | Mean Tokens 2,328,837.8 (5/21 complete) | Mean Raw Harness 891.281s | Mean Raw Wall 1100.110s +[Batch] GPU 3 finished ReorientRedMugTask/2: SUCCESS | Tasks 7/20 | Episodes 22/60 | Success 100.00% (22/22) | Mean Harness 875.868s | Mean Wall 1080.518s | Mean Tokens 2,614,282.5 (6/22 complete) | Mean Raw Harness 883.022s | Mean Raw Wall 1087.672s +[Batch] GPU 3 finished FoodPacking1BoxesTask/0: SUCCESS | Tasks 7/20 | Episodes 23/60 | Success 100.00% (23/23) | Mean Harness 859.167s | Mean Wall 1058.300s | Mean Tokens 2,593,167.7 (7/23 complete) | Mean Raw Harness 866.011s | Mean Raw Wall 1065.144s +[Batch] GPU 3 finished FoodPacking1BoxesTask/1: SUCCESS | Tasks 7/20 | Episodes 24/60 | Success 100.00% (24/24) | Mean Harness 877.597s | Mean Wall 1075.190s | Mean Tokens 2,593,167.7 (7/24 complete) | Mean Raw Harness 884.155s | Mean Raw Wall 1081.749s +[Batch] GPU 3 finished FoodPacking1BoxesTask/2: SUCCESS | Tasks 8/20 | Episodes 25/60 | Success 100.00% (25/25) | Mean Harness 865.890s | Mean Wall 1059.656s | Mean Tokens 2,593,167.7 (7/25 complete) | Mean Raw Harness 872.186s | Mean Raw Wall 1065.951s +[Batch] GPU 3 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 8/20 | Episodes 26/60 | Success 100.00% (26/26) | Mean Harness 845.633s | Mean Wall 1034.727s | Mean Tokens 2,564,268.8 (8/26 complete) | Mean Raw Harness 852.378s | Mean Raw Wall 1041.471s +[Batch] GPU 3 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 8/20 | Episodes 27/60 | Success 100.00% (27/27) | Mean Harness 839.706s | Mean Wall 1026.839s | Mean Tokens 2,564,268.8 (8/27 complete) | Mean Raw Harness 846.201s | Mean Raw Wall 1033.334s +[Batch] GPU 3 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 9/20 | Episodes 28/60 | Success 100.00% (28/28) | Mean Harness 818.800s | Mean Wall 1001.159s | Mean Tokens 2,463,686.2 (9/28 complete) | Mean Raw Harness 825.063s | Mean Raw Wall 1007.422s +[Batch] GPU 3 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 9/20 | Episodes 29/60 | Success 100.00% (29/29) | Mean Harness 822.796s | Mean Wall 1003.117s | Mean Tokens 2,463,686.2 (9/29 complete) | Mean Raw Harness 833.324s | Mean Raw Wall 1013.645s +[Batch] GPU 3 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 9/20 | Episodes 30/60 | Success 100.00% (30/30) | Mean Harness 823.260s | Mean Wall 1001.783s | Mean Tokens 2,463,686.2 (9/30 complete) | Mean Raw Harness 833.650s | Mean Raw Wall 1012.173s +[Batch] GPU 3 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 10/20 | Episodes 31/60 | Success 100.00% (31/31) | Mean Harness 812.736s | Mean Wall 988.061s | Mean Tokens 2,483,011.0 (10/31 complete) | Mean Raw Harness 822.792s | Mean Raw Wall 998.117s +[Batch] GPU 3 finished FoodPacking1CansTask/0: SUCCESS | Tasks 10/20 | Episodes 32/60 | Success 100.00% (32/32) | Mean Harness 817.008s | Mean Wall 991.178s | Mean Tokens 2,483,011.0 (10/32 complete) | Mean Raw Harness 826.931s | Mean Raw Wall 1001.102s +[Batch] GPU 3 finished FoodPacking1CansTask/1: SUCCESS | Tasks 10/20 | Episodes 33/60 | Success 100.00% (33/33) | Mean Harness 808.952s | Mean Wall 980.742s | Mean Tokens 2,483,011.0 (10/33 complete) | Mean Raw Harness 819.178s | Mean Raw Wall 990.968s +[Batch] GPU 3 finished FoodPacking1CansTask/2: SUCCESS | Tasks 11/20 | Episodes 34/60 | Success 100.00% (34/34) | Mean Harness 809.726s | Mean Wall 980.162s | Mean Tokens 2,483,011.0 (10/34 complete) | Mean Raw Harness 819.652s | Mean Raw Wall 990.088s +[Batch] GPU 3 finished BananaInBowlTask/0: SUCCESS | Tasks 11/20 | Episodes 35/60 | Success 100.00% (35/35) | Mean Harness 795.716s | Mean Wall 962.768s | Mean Tokens 2,416,600.3 (11/35 complete) | Mean Raw Harness 805.358s | Mean Raw Wall 972.410s +[Batch] GPU 3 finished BananaInBowlTask/1: SUCCESS | Tasks 11/20 | Episodes 36/60 | Success 100.00% (36/36) | Mean Harness 785.377s | Mean Wall 949.659s | Mean Tokens 2,452,028.2 (12/36 complete) | Mean Raw Harness 794.751s | Mean Raw Wall 959.033s +[Batch] GPU 3 finished BananaInBowlTask/2: SUCCESS | Tasks 12/20 | Episodes 37/60 | Success 100.00% (37/37) | Mean Harness 781.561s | Mean Wall 943.797s | Mean Tokens 2,559,444.0 (13/37 complete) | Mean Raw Harness 790.682s | Mean Raw Wall 952.918s +[Batch] GPU 1 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 12/20 | Episodes 38/60 | Success 97.37% (37/38) | Mean Harness 774.256s | Mean Wall 939.858s | Mean Tokens 2,559,444.0 (13/38 complete) | Mean Raw Harness 783.137s | Mean Raw Wall 948.739s +[Batch] GPU 1 finished ReorientWhiteMugsTask/2: SUCCESS | Tasks 13/20 | Episodes 39/60 | Success 97.44% (38/39) | Mean Harness 781.107s | Mean Wall 946.950s | Mean Tokens 2,559,444.0 (13/39 complete) | Mean Raw Harness 789.760s | Mean Raw Wall 955.603s +[Batch] GPU 1 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 13/20 | Episodes 40/60 | Success 97.50% (39/40) | Mean Harness 802.344s | Mean Wall 968.288s | Mean Tokens 2,559,444.0 (13/40 complete) | Mean Raw Harness 810.874s | Mean Raw Wall 976.818s +[Batch] GPU 1 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 13/20 | Episodes 41/60 | Success 97.56% (40/41) | Mean Harness 829.007s | Mean Wall 995.453s | Mean Tokens 2,559,444.0 (13/41 complete) | Mean Raw Harness 837.856s | Mean Raw Wall 1004.302s +[Batch] Final | Tasks 13/20 | Episodes 41/60 | Success 97.56% (40/41) | Mean Harness 829.007s | Mean Wall 995.453s | Mean Tokens 2,559,444.0 (13/41 complete) | Mean Raw Harness 837.856s | Mean Raw Wall 1004.302s +[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage. +[Batch] Initial | Tasks 13/20 | Episodes 41/60 | Success 97.56% (40/41) | Mean Harness 829.007s | Mean Wall 995.453s | Mean Tokens 2,559,444.0 (13/41 complete) | Mean Raw Harness 837.856s | Mean Raw Wall 1004.302s +[Batch] GPU 3 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 13/20 | Episodes 42/60 | Success 97.62% (41/42) | Mean Harness 823.529s | Mean Wall 988.637s | Mean Tokens 2,578,444.1 (14/42 complete) | Mean Raw Harness 832.168s | Mean Raw Wall 997.275s +[Batch] GPU 1 finished ClampInRightBinTask/0: SUCCESS | Tasks 13/20 | Episodes 43/60 | Success 97.67% (42/43) | Mean Harness 821.485s | Mean Wall 985.316s | Mean Tokens 2,578,444.1 (14/43 complete) | Mean Raw Harness 829.922s | Mean Raw Wall 993.753s +[Batch] GPU 3 finished OneBottleInSquarePailTask/1: SUCCESS | Tasks 13/20 | Episodes 44/60 | Success 97.73% (43/44) | Mean Harness 811.983s | Mean Wall 973.736s | Mean Tokens 2,558,790.3 (15/44 complete) | Mean Raw Harness 820.229s | Mean Raw Wall 981.981s +[Batch] GPU 7 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 13/20 | Episodes 45/60 | Success 97.78% (44/45) | Mean Harness 818.822s | Mean Wall 979.862s | Mean Tokens 2,558,790.3 (15/45 complete) | Mean Raw Harness 826.884s | Mean Raw Wall 987.924s +[Batch] GPU 5 finished RedItemsInBinTask/0: SUCCESS | Tasks 13/20 | Episodes 46/60 | Success 97.83% (45/46) | Mean Harness 836.332s | Mean Wall 997.730s | Mean Tokens 2,558,790.3 (15/46 complete) | Mean Raw Harness 844.219s | Mean Raw Wall 1005.618s +[Batch] GPU 3 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 14/20 | Episodes 47/60 | Success 97.87% (46/47) | Mean Harness 832.304s | Mean Wall 992.804s | Mean Tokens 2,589,750.6 (16/47 complete) | Mean Raw Harness 840.024s | Mean Raw Wall 1000.523s +[Batch] GPU 1 finished ClampInRightBinTask/1: SUCCESS | Tasks 14/20 | Episodes 48/60 | Success 97.92% (47/48) | Mean Harness 840.602s | Mean Wall 1000.902s | Mean Tokens 2,589,750.6 (16/48 complete) | Mean Raw Harness 848.965s | Mean Raw Wall 1009.265s +[Batch] GPU 5 finished RedItemsInBinTask/1: SUCCESS | Tasks 14/20 | Episodes 49/60 | Success 97.96% (48/49) | Mean Harness 858.806s | Mean Wall 1019.620s | Mean Tokens 2,589,750.6 (16/49 complete) | Mean Raw Harness 866.999s | Mean Raw Wall 1027.813s +[Batch] GPU 5 finished RedItemsInBinTask/2: SUCCESS | Tasks 15/20 | Episodes 50/60 | Success 98.00% (49/50) | Mean Harness 866.864s | Mean Wall 1027.378s | Mean Tokens 2,589,750.6 (16/50 complete) | Mean Raw Harness 874.892s | Mean Raw Wall 1035.407s +[Batch] GPU 5 finished BowlStackingRightOnLeftTask/0: SUCCESS | Tasks 15/20 | Episodes 51/60 | Success 98.04% (50/51) | Mean Harness 869.042s | Mean Wall 1027.760s | Mean Tokens 2,589,750.6 (16/51 complete) | Mean Raw Harness 879.782s | Mean Raw Wall 1038.500s +[Batch] GPU 7 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 15/20 | Episodes 52/60 | Success 98.08% (51/52) | Mean Harness 869.867s | Mean Wall 1027.312s | Mean Tokens 2,589,750.6 (16/52 complete) | Mean Raw Harness 880.501s | Mean Raw Wall 1037.946s +[Batch] GPU 5 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 15/20 | Episodes 53/60 | Success 98.11% (52/53) | Mean Harness 862.102s | Mean Wall 1017.476s | Mean Tokens 2,589,750.6 (16/53 complete) | Mean Raw Harness 872.535s | Mean Raw Wall 1027.909s +[Batch] GPU 1 finished ClampInRightBinTask/2: SUCCESS | Tasks 16/20 | Episodes 54/60 | Success 98.15% (53/54) | Mean Harness 861.270s | Mean Wall 1015.507s | Mean Tokens 2,589,750.6 (16/54 complete) | Mean Raw Harness 871.510s | Mean Raw Wall 1025.747s +[Batch] GPU 5 finished BowlStackingRightOnLeftTask/2: SUCCESS | Tasks 17/20 | Episodes 55/60 | Success 98.18% (54/55) | Mean Harness 855.134s | Mean Wall 1007.328s | Mean Tokens 2,589,750.6 (16/55 complete) | Mean Raw Harness 865.188s | Mean Raw Wall 1017.382s +[Batch] GPU 3 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 98.21% (55/56) | Mean Harness 869.749s | Mean Wall 1022.079s | Mean Tokens 2,589,750.6 (16/56 complete) | Mean Raw Harness 879.686s | Mean Raw Wall 1032.016s +[Batch] GPU 7 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 19/20 | Episodes 57/60 | Success 98.25% (56/57) | Mean Harness 893.066s | Mean Wall 1046.046s | Mean Tokens 2,589,750.6 (16/57 complete) | Mean Raw Harness 902.924s | Mean Raw Wall 1055.904s +[Batch] GPU 7 finished MustardInLeftBinTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 98.28% (57/58) | Mean Harness 887.556s | Mean Wall 1039.284s | Mean Tokens 2,625,901.2 (17/58 complete) | Mean Raw Harness 897.244s | Mean Raw Wall 1048.972s +[Batch] GPU 7 finished MustardInLeftBinTask/1: FAILURE | Tasks 19/20 | Episodes 59/60 | Success 96.61% (57/59) | Mean Harness 889.080s | Mean Wall 1040.315s | Mean Tokens 2,625,901.2 (17/59 complete) | Mean Raw Harness 898.604s | Mean Raw Wall 1049.839s +[Batch] GPU 7 finished MustardInLeftBinTask/2: SUCCESS | Tasks 20/20 | Episodes 60/60 | Success 96.67% (58/60) | Mean Harness 887.836s | Mean Wall 1038.306s | Mean Tokens 2,625,901.2 (17/60 complete) | Mean Raw Harness 897.202s | Mean Raw Wall 1047.671s +[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 96.67% (58/60) | Mean Harness 887.836s | Mean Wall 1038.306s | Mean Tokens 2,625,901.2 (17/60 complete) | Mean Raw Harness 897.202s | Mean Raw Wall 1047.671s diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/assignments.tsv b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/assignments.tsv new file mode 100644 index 0000000000000000000000000000000000000000..63e7a937f17bc350194300acba80a15656172d8a --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/assignments.tsv @@ -0,0 +1,5 @@ +gpu port estimated_seconds tasks +1 8000 2665.457 ClampInRightBinTask +3 8001 3256.332 OneBottleInSquarePailTask BlockStackingSpecifiedOrderTask +5 8002 3654.360 RedItemsInBinTask BowlStackingRightOnLeftTask +7 8003 3669.345 BananaThenRubiksCubeTask MustardInLeftBinTask diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/client.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/client.log new file mode 100644 index 0000000000000000000000000000000000000000..76f88c84913c615aac83d7f271666b6171f83426 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/client.log @@ -0,0 +1,677 @@ +[2026-11-05T12:58:49Z] GPU 1: Starting worker at ClampInRightBinTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:1 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261105_130109.log +2026-11-05T13:01:09Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-05T13:01:09Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-05T13:01:09Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-05T13:01:09Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-05T13:01:09Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-05T13:01:09Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-05T13:01:09Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-05T13:01:09Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-05T13:01:09Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-05T13:01:09Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-05T13:01:09Z [82ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-05T13:01:09Z [84ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-05T13:01:09Z [87ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-05T13:01:09Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-05T13:01:09Z [93ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-05T13:01:09Z [97ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-05T13:01:09Z [111ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-05T13:01:15Z [6,134ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:15Z [6,135ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:15Z [6,228ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-05T13:01:16Z [7,131ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:16Z [7,132ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:16Z [7,133ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863766 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-05T13:01:20Z [11,094ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-05T13:01:20Z [11,094ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 892.75 4.26 6.58 10.08 5.39 6.17 5.66 9.25 + 1 4.30 906.32 6.24 5.71 4.75 5.80 7.35 15.91 + 2 12.99 5.39 901.10 6.71 4.42 4.97 8.06 11.03 + 3 7.09 7.89 5.90 897.99 5.49 5.11 6.77 14.84 + 4 8.00 8.54 5.48 5.22 871.73 5.74 4.42 21.46 + 5 6.25 5.41 5.57 6.06 14.72 913.21 4.27 10.84 + 6 5.74 9.65 9.43 9.36 8.99 9.59 917.50 8.61 + 7 12.10 13.16 13.09 13.00 13.04 12.94 14.39 918.04 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.43 17.12 14.64 15.71 16.34 16.73 17.62 17.35 + 1 16.14 1.46 14.92 16.14 16.00 16.42 16.61 16.45 + 2 14.12 16.17 1.48 14.08 15.90 17.14 16.96 17.48 + 3 15.35 16.36 16.15 1.46 14.99 16.49 16.63 16.53 + 4 14.57 15.59 15.12 15.35 1.47 14.03 14.30 14.76 + 5 15.09 15.68 14.78 15.41 12.89 1.49 13.33 15.28 + 6 13.61 15.60 15.93 15.06 13.97 12.83 1.46 13.84 + 7 13.85 13.66 14.81 15.03 14.10 14.32 14.96 1.41 + + CPU 0 1 2 3 4 5 6 7 + 0 3.20 10.26 9.70 9.68 8.03 10.25 8.14 7.90 + 1 10.36 3.08 9.71 9.61 7.73 7.90 8.05 7.88 + 2 10.00 10.56 3.04 10.50 8.38 7.88 7.88 8.13 + 3 10.66 10.43 9.83 2.92 8.14 8.11 8.20 7.96 + 4 9.56 8.53 8.81 8.51 2.54 6.77 7.01 7.04 + 5 8.74 8.40 8.47 8.88 6.71 2.20 6.74 6.76 + 6 9.20 8.51 8.81 8.64 6.64 6.71 2.34 6.75 + 7 8.71 8.43 8.30 8.72 7.10 6.83 6.77 2.24 +2026-11-05T13:01:27Z [18,054ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 4.3 GB/s. +2026-11-05T13:01:27Z [18,054ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 17.6 us. +2026-11-05T13:01:27Z [18,054ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-05T13:01:30Z [20,861ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,862ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,923ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,924ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,936ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,936ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [21,056ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [21,056ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [21,061ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [21,062ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [21,065ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [21,066ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:31Z [22,365ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-05T13:01:36Z [26,829ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-05T13:01:48Z [38,898ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-05T13:01:49Z [40,432ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-05T13:02:04Z [55,109ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-05T13:02:04Z [55,111ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-05T13:02:04Z [55,685ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-05T13:02:09Z [60,670ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:09Z [60,670ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:09Z [60,671ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:09Z [60,680ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-05T13:02:09Z [60,692ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:09Z [60,692ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 1 task(s): ['ClampInRightBinTask'] +2026-11-05T13:02:24Z [74,875ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559d1e2e7480>) + +2026-11-05T13:02:24Z [74,876ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559d1e2e7480>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: ClampInRightBinTask + Environments : ClampInRightBinTask + Num Tasks : 1 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T13:02:27Z [78,223ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:1 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.767661 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T13:02:34Z [85,114ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [85,115ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,150ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [85,150ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,157ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,165ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T13:02:34Z [85,338ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:34Z [85,355ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:38Z [89,611ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((60))' not available in the MDL representation. +2026-11-05T13:02:38Z [89,612ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((60))' not available in the MDL representation. +2026-11-05T13:02:39Z [90,555ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation. +2026-11-05T13:02:39Z [90,555ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation. +2026-11-05T13:02:39Z [90,568ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation. +2026-11-05T13:02:39Z [90,568ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation. +2026-11-05T13:02:39Z [90,584ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((99))' not available in the MDL representation. +2026-11-05T13:02:39Z [90,584ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((99))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,397ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,397ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,732ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,732ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation. +2026-11-05T13:02:43Z [93,869ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((201))' not available in the MDL representation. +2026-11-05T13:02:43Z [93,869ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((201))' not available in the MDL representation. +2026-11-05T13:02:43Z [94,094ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((252))' not available in the MDL representation. +2026-11-05T13:02:43Z [94,095ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((252))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,494ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,494ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,986ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T13:02:45Z [96,278ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,279ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,280ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,280ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,281ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((99))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,281ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((99))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,284ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,285ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,288ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((201))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,288ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((201))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,292ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((252))' not available in the MDL representation. +2026-11-05T13:02:45Z [96,292ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((252))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 17.402742 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : ClampInRightBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the spring clamp in the right bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : ClampInRightBinTaskSceneEnvCfg │ +│ Attributes : semantics, spatial, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5604f6638ca0>) + +2026-11-05T14:49:37Z [59,043ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5604f6638ca0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: ClampInRightBinTask + Environments : ClampInRightBinTask + Num Tasks : 1 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab +══════════════════════════════════════════════════════════════ +Loaded 2 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T14:49:40Z [62,730ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:1 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.405671 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T14:49:46Z [67,919ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:49:46Z [67,920ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:49:46Z [67,956ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:49:46Z [67,957ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:49:46Z [67,965ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:49:46Z [67,972ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T14:49:46Z [68,152ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T14:49:46Z [68,176ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T14:49:49Z [71,457ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((33))' not available in the MDL representation. +2026-11-05T14:49:49Z [71,457ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((33))' not available in the MDL representation. +2026-11-05T14:49:52Z [74,727ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation. +2026-11-05T14:49:52Z [74,728ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation. +2026-11-05T14:49:52Z [74,736ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation. +2026-11-05T14:49:52Z [74,736ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,107ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,107ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,131ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,131ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,166ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,166ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,174ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,174ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,246ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((173))' not available in the MDL representation. +2026-11-05T14:49:55Z [77,246ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((173))' not available in the MDL representation. +2026-11-05T14:49:56Z [77,944ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((256))' not available in the MDL representation. +2026-11-05T14:49:56Z [77,944ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((256))' not available in the MDL representation. +2026-11-05T14:49:56Z [78,528ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T14:49:57Z [78,834ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,834ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,835ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,835ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,837ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,838ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,839ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,839ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,840ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((173))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,840ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((173))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,845ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((256))' not available in the MDL representation. +2026-11-05T14:49:57Z [78,845ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((256))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.801660 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : ClampInRightBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the spring clamp in the right bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : ClampInRightBinTaskSceneEnvCfg │ +│ Attributes : semantics, spatial, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Task `ClampInRightBinTask` run `0` already done. Skipping. +[RoboLab] Task `ClampInRightBinTask` run `1` already done. Skipping. +[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs) + 0%| | 0/900 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 609.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 10 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 10.49 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53634) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53634) closed +INFO:websockets.server:server closed +Traceback (most recent call last): + File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/asyncio/runners.py", line 118, in run diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..481e0c99ccccac81b50e5cb721409afd7c350d11 --- /dev/null +++ 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file mode 100644 index 0000000000000000000000000000000000000000..c079d60505d11216a49a4781dbf42e9d9647e62b --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval/episode-0003/stderr.log @@ -0,0 +1,4 @@ +2026-11-05T13:41:38.343124Z ERROR codex_app_server: Project-local config, hooks, and exec policies are disabled in the following folders until the project is trusted, but skills still load. + 1. /data/NTU_slab/draven/proj/codebase/.codex + To load project-local config, hooks, and exec policies, add /data/NTU_slab/draven/proj/codebase as a trusted project in /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval/episode-0003/runtime_3mjz8y51/codex/config.toml. + diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc74f1d5c2fe68d80a43c3a5aa194458d90b127b --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79e729a97aaf4d74586353dfcb55ff6e139adb72f20039014ea9aa18978a2fab +size 1959 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b375c3f1ac1eb2435b193170c15bc9cd1155d65 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a32fe168321dce5a6538e72062684b25901c1a4c194e908f58876a71d06ac76d +size 96147 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..5a25e745dc5ead944dbb3374ef88fb5dee18316e --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.vla.log @@ -0,0 +1,19 @@ +INFO:root:Loading model... +INFO:2026-11-05 14:48:02,755:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 14:48:02,758:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 707.0 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.05 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36570) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36570) closed diff --git 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"score": 0.0}, {"step": 252, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 350, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..e9226413f69153e10819778f0d6f9485a352c971 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 487, "events": [{"step": 116, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 132, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 487, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b34cff4ecf63bc79e974dc505e76d821040995 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 302, "events": [{"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 302, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8456e4f9a6f0f0bcbbb3c915869d46a3028e1882 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_0.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aec3c8174e0f274ab5ac0f63a150012aa51190e0037bc44f3e0667866dc7a990 +size 401933 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_1.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f5ea7eee339d126fb2bce7e6dd6c3818ba689864 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_1.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98df925e39fc1b85f1fd3d09e6b10abfea356cb1beebc48a926114ccebd7cd84 +size 465467 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_2.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c5f10d3eb0d21b2b61ddb6f0f04ecb2f6dc7c6ce --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/ClampInRightBinTask/run_2.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c3a89f9e9f37074839b8d32147fe9aefb7dddebea5b479fc841ae850ae9f94d +size 380545 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f9b900cae95fe884c3b36fb785f74ad274cff9d --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:831a9aa4cb44fdc13b3dcbd51d6988f1d9ef87850650436d0fa65391b137dd5a +size 3492 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/server.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/server.log new file mode 100644 index 0000000000000000000000000000000000000000..f174a6d8e2e4cd2639b1ffc1b6dcb4bbab23ada8 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/server.log @@ -0,0 +1,86 @@ +[2026-11-05T12:58:49Z] GPU 1: Starting worker at ClampInRightBinTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 38098) opened +INFO:websockets.server:connection rejected (200 OK) +INFO:src.evaluation.robolab_bench.episode_stats:Episode 5c9b7de0c8f84bb5aa6109e4c1351b1d-0 (codex/gpt-6-astra) ended: wall=845.831s harness=735.613s tokens=3267566 usage_complete=False decisions=25 executed_steps=350 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 040fb68c4dd84095892117978a846d83-1 (codex/gpt-6-astra) ended: wall=1381.489s harness=1230.609s tokens=4681760 usage_complete=False decisions=39 executed_steps=487 steps_complete=True network_wait=38.62257284671068 rate_limit_wait=0 rate_limit_count=0 excluded=38.62257284671068 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode d4515d97c0c247208e6581827f1fca8e-2 (codex/gpt-6-astra) execution_error: wall=3912.467s harness=3724.408s tokens=6108264 usage_complete=False decisions=58 executed_steps=604 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T125852.318364Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T14:46:53Z] GPU 1: ClampInRightBinTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T14:47:23Z] GPU 1: Starting worker at ClampInRightBinTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 40620) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 4d692b65c2f8459bbe186191f9f86ea6-2 (codex/gpt-6-astra) ended: wall=911.147s harness=817.183s tokens=3399338 usage_complete=False decisions=22 executed_steps=302 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_1/harness/20261105T144725.891332Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 40620) closed +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/client.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/client.log new file mode 100644 index 0000000000000000000000000000000000000000..eb3c2c67141ad50b886c9abafee40d86f9501ed4 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/client.log @@ -0,0 +1,810 @@ +[2026-11-05T12:58:49Z] GPU 3: Starting worker at OneBottleInSquarePailTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:3 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261105_130109.log +2026-11-05T13:01:09Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-05T13:01:09Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-05T13:01:09Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-05T13:01:09Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-05T13:01:09Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-05T13:01:09Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-05T13:01:09Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-05T13:01:09Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-05T13:01:09Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-05T13:01:09Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-05T13:01:09Z [81ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-05T13:01:09Z [88ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-05T13:01:09Z [91ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-05T13:01:09Z [95ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-05T13:01:09Z [98ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-05T13:01:09Z [104ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-05T13:01:09Z [128ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-05T13:01:14Z [5,176ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:14Z [5,176ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:14Z [5,303ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-05T13:01:16Z [7,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:16Z [7,115ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:16Z [7,117ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863763 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-05T13:01:20Z [11,079ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-05T13:01:20Z [11,079ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 897.22 1.65 2.77 4.60 19.42 20.23 21.63 22.14 + 1 3.82 902.14 4.06 4.02 5.15 21.75 19.66 20.74 + 2 2.64 3.21 900.58 2.78 21.94 21.97 21.38 20.59 + 3 4.24 4.05 4.43 914.28 18.78 20.82 21.48 22.21 + 4 7.74 7.75 8.22 10.22 902.17 8.30 15.01 11.78 + 5 9.38 6.25 10.24 11.13 13.40 905.27 9.32 12.47 + 6 13.97 17.06 15.05 14.38 13.75 11.10 901.62 13.39 + 7 9.52 10.62 9.94 9.72 9.16 9.78 17.20 910.55 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.40 180.07 10.77 10.29 13.90 13.77 12.56 15.36 + 1 14.30 1.40 39.77 13.26 11.91 12.64 12.92 15.71 + 2 19.24 18.95 1.43 19.15 20.74 20.56 20.72 22.25 + 3 14.51 10.43 144.71 1.44 14.16 15.81 17.27 19.24 + 4 12.46 12.97 13.56 165.85 1.54 13.31 11.33 15.69 + 5 11.71 11.68 11.91 167.55 11.31 1.37 20.08 17.15 + 6 11.66 11.58 13.44 15.09 116.82 11.51 1.45 16.23 + 7 168.88 143.17 128.06 84.05 167.72 171.36 78.93 1.54 + + CPU 0 1 2 3 4 5 6 7 + 0 2.41 6.87 6.73 8.24 7.56 7.39 7.53 7.45 + 1 6.72 2.24 6.90 6.71 7.47 7.41 7.41 7.47 + 2 6.82 6.68 2.32 6.78 7.76 7.53 7.58 7.55 + 3 6.74 6.63 6.81 2.21 7.57 7.48 7.64 7.60 + 4 7.27 7.17 7.29 7.41 2.55 8.06 8.09 8.09 + 5 7.18 7.16 7.25 7.22 7.84 2.48 7.99 8.01 + 6 7.29 7.11 7.24 7.22 8.08 8.09 2.53 8.36 + 7 7.14 7.20 7.17 7.25 8.23 8.19 9.59 2.82 +2026-11-05T13:01:26Z [17,560ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.7 GB/s. +2026-11-05T13:01:26Z [17,560ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 180.1 us. +2026-11-05T13:01:26Z [17,561ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-05T13:01:29Z [20,611ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:29Z [20,612ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,729ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,730ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,747ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,747ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,982ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,982ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,987ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,988ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,994ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,995ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:31Z [22,365ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-05T13:01:36Z [26,829ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-05T13:01:48Z [38,898ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-05T13:01:49Z [40,433ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-05T13:02:04Z [55,109ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-05T13:02:04Z [55,111ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-05T13:02:04Z [55,685ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-05T13:02:08Z [59,482ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:08Z [59,483ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:08Z [59,486ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:08Z [59,504ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-05T13:02:08Z [59,517ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:08Z [59,517ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 2 task(s): ['OneBottleInSquarePailTask', 'BlockStackingSpecifiedOrderTask'] +2026-11-05T13:02:23Z [74,318ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x561eb3dea3d0>) + +2026-11-05T13:02:23Z [74,319ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x561eb3dea3d0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: OneBottleInSquarePailTask, BlockStackingSpecifiedOrderTask + Environments : OneBottleInSquarePailTask, BlockStackingSpecifiedOrderTask + Num Tasks : 2 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T13:02:27Z [78,086ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.928405 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T13:02:34Z [85,017ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [85,018ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,049ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [85,049ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,060ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,069ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T13:02:34Z [85,255ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:34Z [85,276ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:36Z [87,363ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((19))' not available in the MDL representation. +2026-11-05T13:02:36Z [87,363ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((19))' not available in the MDL representation. +2026-11-05T13:02:36Z [87,376ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((24))' not available in the MDL representation. +2026-11-05T13:02:36Z [87,376ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((24))' not available in the MDL representation. +2026-11-05T13:02:36Z [87,399ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((32))' not available in the MDL representation. +2026-11-05T13:02:36Z [87,399ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((32))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,380ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,380ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,457ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,457ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,465ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,465ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,537ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,537ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,538ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,539ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,539ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,539ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,539ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,539ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,539ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,683ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,683ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,694ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,694ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,708ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((131))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,708ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((131))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,726ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,726ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,759ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-05T13:02:41Z [91,760ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-05T13:02:41Z [92,625ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-05T13:02:41Z [92,625ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-05T13:02:42Z [92,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((213))' not available in the MDL representation. +2026-11-05T13:02:42Z [92,698ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((213))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation. +2026-11-05T13:02:43Z [94,564ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation. +2026-11-05T13:02:43Z [94,564ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,053ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((265))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((265))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,076ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((272))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,076ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((272))' not available in the MDL representation. +2026-11-05T13:02:44Z [95,583ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T13:02:45Z [95,878ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,878ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,880ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,881ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,881ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,883ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,883ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,885ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,886ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,888ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((272))' not available in the MDL representation. +2026-11-05T13:02:45Z [95,889ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((272))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 16.977747 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : OneBottleInSquarePailTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put any white plastic bottle in the square pail │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : OneBottleInSquarePailTaskSceneEnvCfg │ +│ Attributes : semantics, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running OneBottleInSquarePailTask_0: 'Put any white plastic bottle in the square pail' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T13:36:41Z [2,132,418ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.195223 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T13:36:43Z [2,134,655ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:36:43Z [2,134,655ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:36:43Z [2,134,664ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:36:43Z [2,134,664ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:36:43Z [2,134,672ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:36:43Z [2,134,679ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T13:36:44Z [2,134,697ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[INFO]: Time taken for simulation start : 3.421492 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BlockStackingSpecifiedOrderTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BlockStackingSpecifiedOrderTaskSceneEnvCfg │ +│ Attributes : stacking, color, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs) + 0%| | 0/1350 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x557b1b207220>) + +2026-11-05T14:49:19Z [63,652ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x557b1b207220>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: OneBottleInSquarePailTask, BlockStackingSpecifiedOrderTask + Environments : OneBottleInSquarePailTask, BlockStackingSpecifiedOrderTask + Num Tasks : 2 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab +══════════════════════════════════════════════════════════════ +Loaded 3 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab. +[RoboLab] Task `OneBottleInSquarePailTask` already done. Skipping. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T14:49:23Z [67,514ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.436030 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T14:49:28Z [72,752ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:49:28Z [72,753ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:49:28Z [72,822ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:49:28Z [72,822ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:49:28Z [72,830ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:49:28Z [72,839ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T14:49:29Z [73,009ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T14:49:29Z [73,029ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T14:49:39Z [83,315ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +[INFO]: Time taken for simulation start : 15.749216 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BlockStackingSpecifiedOrderTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BlockStackingSpecifiedOrderTaskSceneEnvCfg │ +│ Attributes : stacking, color, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs) + 0%| | 0/1350 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 609.3 MiB/s (total bytes: 6.2 GiB) (time elapsed: 10 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 10.50 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48140) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48140) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval/episode-0001/events.jsonl new file mode 100644 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pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 709.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 9.01 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: 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"info": "Target object dropped during transport", "score": 1.0}, {"step": 309, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..2474728b9bedf277b4f05125136c90f483929b93 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 205, "events": [{"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 205, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..7681b31c4010e352f01a272a928efaad24c39d7c --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 331, "events": [{"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 98, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 98, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 158, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.095m", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 331, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ac3e342cfbb75b93cd9ee713433f752ac149f4b8 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_0.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:578efd79cccc05bb65ae324386b2be41da86bec8cd3f63a71e885b1afea82b6a +size 375782 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_1.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f5d31826bddbcc3d955b288950ce2948cbc9de6a --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_1.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67b957c7a70a72b66249d29d4f2a60302b5d067cc3842ac020b93d23b9b0a71 +size 332270 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_2.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ddfb0e4ab3b14a4f802e4921023393d084444b72 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/OneBottleInSquarePailTask/run_2.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ffd8cd6dba9522c0973c831b40749a2ace07e91f69cf3f67d60f453a6e60e1b +size 386297 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90176f596f26100a1c91549da23da73be7016c70 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a8290a141f94d5af9e654f5efbf477295766049cea0e681f995360d54beac16 +size 4683 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/server.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/server.log new file mode 100644 index 0000000000000000000000000000000000000000..cbd947a8268dafef1df6bc699c350726851a3549 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/server.log @@ -0,0 +1,87 @@ +[2026-11-05T12:58:49Z] GPU 3: Starting worker at OneBottleInSquarePailTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51532) opened +INFO:websockets.server:connection rejected (200 OK) +INFO:src.evaluation.robolab_bench.episode_stats:Episode 3a9a7c6901264ac283f50d9d1748ab4b-0 (codex/gpt-6-astra) ended: wall=709.161s harness=598.942s tokens=2825445 usage_complete=True decisions=22 executed_steps=309 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 0a29cf6c80b4462eaf4f71de3dcde30d-1 (codex/gpt-6-astra) ended: wall=475.805s harness=403.412s tokens=2283638 usage_complete=True decisions=16 executed_steps=205 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 84610629fd00469d9dd0cc288ce28f30-2 (codex/gpt-6-astra) ended: wall=766.186s harness=647.027s tokens=3054154 usage_complete=True decisions=23 executed_steps=331 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 900e237988054bb3bffb95f693094f95-2 (codex/gpt-6-astra) execution_error: wall=4170.979s harness=3972.657s tokens=8394384 usage_complete=False decisions=53 executed_steps=760 steps_complete=False network_wait=9.899502366781235 rate_limit_wait=0 rate_limit_count=0 excluded=9.899502366781235 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T125852.320613Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T14:46:31Z] GPU 3: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T14:47:01Z] GPU 3: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T144704.289636Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T144704.289636Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T144704.289636Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 59900) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 0515f917df254294b7ac17741009725e-2 (codex/gpt-6-astra) ended: wall=1833.364s harness=1673.581s tokens=7667701 usage_complete=False decisions=45 executed_steps=594 steps_complete=True network_wait=3.517744407057762 rate_limit_wait=0 rate_limit_count=0 excluded=3.517744407057762 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_3/harness/20261105T144704.289636Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 59900) closed +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/client.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/client.log new file mode 100644 index 0000000000000000000000000000000000000000..46cdbf8b0b325fb3305e496a4a37684ab2e4aa6f --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/client.log @@ -0,0 +1,468 @@ +[2026-11-05T12:58:49Z] GPU 5: Starting worker at RedItemsInBinTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:5 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261105_130109.log +2026-11-05T13:01:09Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-05T13:01:09Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-05T13:01:09Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-05T13:01:09Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-05T13:01:09Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-05T13:01:09Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-05T13:01:09Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-05T13:01:09Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-05T13:01:09Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-05T13:01:09Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-05T13:01:09Z [74ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-05T13:01:09Z [88ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-05T13:01:09Z [91ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-05T13:01:09Z [95ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-05T13:01:09Z [98ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-05T13:01:09Z [104ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-05T13:01:09Z [128ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-05T13:01:14Z [5,176ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:14Z [5,176ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:14Z [5,299ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-05T13:01:16Z [7,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:16Z [7,114ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:16Z [7,115ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863767 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-05T13:01:20Z [11,015ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-05T13:01:20Z [11,015ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 911.41 10.85 8.07 6.03 4.12 5.94 5.89 5.98 + 1 5.45 902.66 11.35 6.09 5.19 9.11 5.71 6.80 + 2 17.17 3.95 897.47 6.75 6.34 7.56 6.48 7.47 + 3 16.25 17.90 3.50 900.06 9.55 5.66 6.14 5.04 + 4 20.58 22.30 12.72 7.20 900.67 7.11 5.35 4.80 + 5 20.73 20.08 21.14 22.27 8.91 900.06 7.34 6.08 + 6 21.63 18.28 14.89 21.80 21.00 9.86 920.74 10.35 + 7 21.80 20.26 17.52 16.19 14.49 12.30 9.64 913.21 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.53 135.85 19.79 19.61 13.35 11.50 11.69 15.11 + 1 20.36 1.48 20.49 20.72 19.27 18.75 20.38 22.05 + 2 20.01 253.53 1.34 11.50 11.10 14.33 18.55 28.92 + 3 11.34 44.53 229.20 1.45 11.64 13.23 15.80 15.38 + 4 13.56 13.69 251.78 15.50 1.35 10.62 14.90 19.67 + 5 14.97 12.65 54.55 221.24 12.68 1.42 13.75 16.76 + 6 36.57 36.94 36.35 255.62 21.21 49.40 1.44 84.69 + 7 21.68 15.53 35.08 32.62 272.06 24.76 22.74 1.48 + + CPU 0 1 2 3 4 5 6 7 + 0 2.67 8.30 8.06 8.03 7.24 7.15 7.15 7.00 + 1 7.95 2.51 7.84 7.83 7.21 6.94 7.13 6.78 + 2 7.87 8.24 4.56 8.24 7.45 7.68 7.39 7.27 + 3 7.94 8.12 8.03 2.50 7.25 7.06 7.25 7.09 + 4 7.56 7.30 7.45 7.39 2.27 6.66 6.81 6.66 + 5 7.55 7.28 7.52 7.38 6.73 2.26 6.66 6.57 + 6 7.56 7.45 7.56 7.44 6.84 6.69 2.39 7.04 + 7 7.56 7.16 7.67 7.38 6.61 6.56 13.04 2.22 +2026-11-05T13:01:26Z [16,947ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.5 GB/s. +2026-11-05T13:01:26Z [16,948ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 272.1 us. +2026-11-05T13:01:26Z [16,948ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-05T13:01:29Z [20,611ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:29Z [20,611ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,729ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,729ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,747ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,747ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,981ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,981ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,987ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,987ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,994ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,995ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:31Z [22,365ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-05T13:01:36Z [26,829ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-05T13:01:48Z [38,898ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-05T13:01:49Z [40,446ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-05T13:02:04Z [55,109ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-05T13:02:04Z [55,115ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-05T13:02:04Z [55,685ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-05T13:02:10Z [60,748ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:10Z [60,748ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:10Z [60,749ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:10Z [60,759ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-05T13:02:10Z [60,801ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:10Z [60,801ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 2 task(s): ['RedItemsInBinTask', 'BowlStackingRightOnLeftTask'] +2026-11-05T13:02:24Z [74,874ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55a46cfb2390>) + +2026-11-05T13:02:24Z [74,876ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55a46cfb2390>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: RedItemsInBinTask, BowlStackingRightOnLeftTask + Environments : RedItemsInBinTask, BowlStackingRightOnLeftTask + Num Tasks : 2 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T13:02:27Z [78,173ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.802067 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T13:02:34Z [84,965ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [84,966ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,040ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [85,040ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,047ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,058ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T13:02:34Z [85,232ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:34Z [85,251ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:40Z [90,899ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,899ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,906ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,907ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,936ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,937ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,946ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation. +2026-11-05T13:02:40Z [90,946ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,194ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T13:02:42Z [93,476ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,476ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,477ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,477ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,478ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,479ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,479ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,480ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 14.598583 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : RedItemsInBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put all the red things in the grey bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : RedItemsInBinTaskSceneEnvCfg │ +│ Attributes : color, sorting, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T14:29:47Z [5,318,288ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.245094 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T14:29:51Z [5,322,013ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:29:51Z [5,322,013ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:29:51Z [5,322,022ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:29:51Z [5,322,023ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:29:51Z [5,322,031ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:29:51Z [5,322,039ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T14:29:51Z [5,322,057ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-05T14:29:53Z [5,324,148ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation. +2026-11-05T14:29:53Z [5,324,149ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation. +2026-11-05T14:29:55Z [5,326,510ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation. +2026-11-05T14:29:55Z [5,326,510ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 8.085211 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BowlStackingRightOnLeftTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Stack the right bowl on the left bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BowlStackingRightOnLeftTaskSceneEnvCfg │ +│ Attributes : spatial, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BowlStackingRightOnLeftTask_0: 'Stack the right bowl on the left bowl' (run 0, 1 envs) + 0%| | 0/300 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 615.1 MiB/s (total bytes: 6.2 GiB) (time elapsed: 10 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 10.40 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9002 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46554) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46554) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval/episode-0001/events.jsonl new file mode 100644 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+[2026-11-05T12:58:49Z] GPU 5: Starting worker at RedItemsInBinTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9002 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8002 +INFO:websockets.server:server listening on 127.0.0.1:8002 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 39886) opened +INFO:websockets.server:connection rejected (200 OK) +INFO:src.evaluation.robolab_bench.episode_stats:Episode 9ea2d017dd7748ad8c3a3be4edfcee7c-0 (codex/gpt-6-astra) ended: wall=1801.834s harness=1624.311s tokens=7823871 usage_complete=False decisions=46 executed_steps=620 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 6c914b9cae1f454897463866efdea31f-1 (codex/gpt-6-astra) ended: wall=1918.119s harness=1732.587s tokens=7985031 usage_complete=False decisions=45 executed_steps=648 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 5fe12647cacc42f594bbcc4c7f4852b4-2 (codex/gpt-6-astra) ended: wall=1407.511s harness=1261.688s tokens=6027450 usage_complete=False decisions=36 executed_steps=519 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 3d8cea53c4794185a39ee86eb9e1ce39-0 (codex/gpt-6-astra) ended: wall=1046.835s harness=977.962s tokens=2520909 usage_complete=False decisions=20 executed_steps=286 steps_complete=True network_wait=146.3193291425705 rate_limit_wait=0 rate_limit_count=0 excluded=146.3193291425705 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode e50b7c6401604b29978999d4153c37b1-1 (codex/gpt-6-astra) ended: wall=505.981s harness=458.313s tokens=2125924 usage_complete=False decisions=14 executed_steps=197 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 79253fad6b97441c9ede41c5e0767076-2 (codex/gpt-6-astra) ended: wall=565.687s harness=523.782s tokens=1808989 usage_complete=False decisions=12 executed_steps=168 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_5/harness/20261105T125852.322100Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 39886) closed +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/client.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/client.log new file mode 100644 index 0000000000000000000000000000000000000000..b2310a51502a327ab38ae6506a04aeaef3867139 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/client.log @@ -0,0 +1,783 @@ +[2026-11-05T12:58:49Z] GPU 7: Starting worker at BananaThenRubiksCubeTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:7 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261105_130109.log +2026-11-05T13:01:09Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-05T13:01:09Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-05T13:01:09Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-05T13:01:09Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-05T13:01:09Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-05T13:01:09Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-05T13:01:09Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-05T13:01:09Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-05T13:01:09Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-05T13:01:09Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-05T13:01:09Z [80ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-05T13:01:09Z [88ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-05T13:01:09Z [91ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-05T13:01:09Z [95ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-05T13:01:09Z [98ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-05T13:01:09Z [109ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-05T13:01:09Z [140ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-05T13:01:14Z [5,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:14Z [5,176ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:14Z [5,297ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-05T13:01:16Z [7,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:16Z [7,114ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:16Z [7,115ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863765 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-05T13:01:20Z [11,045ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-05T13:01:20Z [11,046ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 894.58 6.00 7.03 7.06 4.71 5.79 5.55 7.27 + 1 5.20 906.85 7.62 6.60 6.17 5.61 6.37 7.72 + 2 15.27 4.21 902.14 6.48 5.05 6.39 6.02 8.20 + 3 8.06 7.81 5.11 902.66 5.74 8.04 7.17 8.85 + 4 11.26 8.89 7.50 5.40 902.01 4.81 6.64 5.03 + 5 6.74 5.53 5.14 5.55 13.25 903.77 4.06 11.00 + 6 5.63 9.96 9.83 9.74 9.39 10.05 909.37 7.85 + 7 13.69 12.13 13.11 13.12 13.06 13.06 13.16 918.58 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.38 18.26 17.02 19.07 17.37 17.70 17.47 13.26 + 1 17.90 1.44 16.92 16.61 16.61 16.78 16.62 11.78 + 2 16.44 17.76 1.43 16.77 17.39 17.22 17.52 12.98 + 3 17.01 16.60 16.61 1.47 16.77 16.70 16.60 11.63 + 4 16.14 15.88 15.14 15.62 1.42 14.33 14.44 13.36 + 5 15.38 15.96 14.57 15.42 13.82 1.47 12.55 14.32 + 6 16.05 15.24 14.49 14.99 18.25 14.33 1.44 15.50 + 7 16.36 15.90 15.30 13.97 20.50 14.95 13.00 1.40 + + CPU 0 1 2 3 4 5 6 7 + 0 3.13 9.65 9.57 10.25 13.18 11.19 11.31 11.07 + 1 9.65 3.12 9.13 9.25 10.77 12.87 10.64 10.46 + 2 9.27 9.01 3.25 9.32 10.68 10.62 10.59 10.65 + 3 9.23 9.08 9.18 3.12 11.23 10.73 10.59 10.55 + 4 10.30 9.98 10.43 10.08 3.66 11.76 12.23 12.55 + 5 10.44 9.99 9.94 10.62 11.69 3.39 11.73 11.88 + 6 10.28 9.90 10.00 10.46 13.02 12.16 3.50 11.55 + 7 10.18 10.01 10.05 10.02 11.93 11.69 11.83 3.49 +2026-11-05T13:01:27Z [18,066ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 4.1 GB/s. +2026-11-05T13:01:27Z [18,066ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us. +2026-11-05T13:01:27Z [18,066ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-05T13:01:30Z [20,861ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,862ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,923ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,923ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [20,935ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [20,936ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [21,052ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [21,052ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [21,056ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [21,056ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:30Z [21,061ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T13:01:30Z [21,061ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T13:01:31Z [22,365ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-05T13:01:36Z [26,830ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-05T13:01:48Z [38,898ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-05T13:01:49Z [40,433ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-05T13:02:04Z [55,216ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-05T13:02:04Z [55,685ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-05T13:02:09Z [60,644ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:09Z [60,645ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:09Z [60,647ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:09Z [60,657ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-05T13:02:09Z [60,670ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T13:02:09Z [60,670ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 2 task(s): ['BananaThenRubiksCubeTask', 'MustardInLeftBinTask'] +2026-11-05T13:02:24Z [74,915ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56021e2517b0>) + +2026-11-05T13:02:24Z [74,916ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56021e2517b0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: BananaThenRubiksCubeTask, MustardInLeftBinTask + Environments : BananaThenRubiksCubeTask, MustardInLeftBinTask + Num Tasks : 2 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T13:02:27Z [78,222ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.750260 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T13:02:34Z [84,960ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [84,960ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,039ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T13:02:34Z [85,040ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,047ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T13:02:34Z [85,058ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T13:02:34Z [85,230ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:34Z [85,251ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T13:02:40Z [91,625ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,626ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,646ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T13:02:40Z [91,646ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T13:02:41Z [92,048ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation. +2026-11-05T13:02:41Z [92,048ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation. +2026-11-05T13:02:42Z [92,949ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T13:02:42Z [93,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,226ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,226ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,227ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,230ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation. +2026-11-05T13:02:42Z [93,231ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 14.347610 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BananaThenRubiksCubeTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : put the banana then the cube in the bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BananaThenRubiksCubeTaskSceneEnvCfg │ +│ Attributes : conjunction, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d474370610>) + +2026-11-05T14:38:40Z [61,285ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d474370610>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: BananaThenRubiksCubeTask, MustardInLeftBinTask + Environments : BananaThenRubiksCubeTask, MustardInLeftBinTask + Num Tasks : 2 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab +══════════════════════════════════════════════════════════════ +Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab. +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T14:38:44Z [65,098ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.420302 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T14:38:49Z [69,528ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:38:49Z [69,529ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:38:49Z [69,600ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T14:38:49Z [69,600ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:38:49Z [69,608ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T14:38:49Z [69,615ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T14:38:49Z [69,767ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T14:38:49Z [69,787ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T14:38:53Z [73,334ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-05T14:38:53Z [73,335ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-05T14:38:53Z [74,257ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-05T14:38:53Z [74,257ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-05T14:38:55Z [76,007ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-05T14:38:55Z [76,007ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-05T14:38:56Z [77,217ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T14:38:57Z [77,496ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-05T14:38:57Z [77,497ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation. +2026-11-05T14:38:57Z [77,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-05T14:38:57Z [77,499ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-05T14:38:57Z [77,501ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +2026-11-05T14:38:57Z [77,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 12.075824 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BananaThenRubiksCubeTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : put the banana then the cube in the bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BananaThenRubiksCubeTaskSceneEnvCfg │ +│ Attributes : conjunction, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Task `BananaThenRubiksCubeTask` run `0` already done. Skipping. +[RoboLab] Running BananaThenRubiksCubeTask_1: 'put the banana then the cube in the bowl' (run 1, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T15:36:46Z [3,546,444ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.202345 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T15:36:49Z [3,549,900ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T15:36:49Z [3,549,901ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T15:36:49Z [3,549,910ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T15:36:49Z [3,549,910ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T15:36:49Z [3,549,918ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T15:36:49Z [3,549,925ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T15:36:49Z [3,549,943ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-05T15:36:50Z [3,550,535ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((332))' not available in the MDL representation. +2026-11-05T15:36:50Z [3,550,535ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((332))' not available in the MDL representation. +2026-11-05T15:36:52Z [3,553,309ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((332))' not available in the MDL representation. +2026-11-05T15:36:52Z [3,553,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((332))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 6.773843 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : MustardInLeftBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the mustard in the left bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : MustardInLeftBinTaskSceneEnvCfg │ +│ Attributes : spatial, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs) + 0%| | 0/450 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 615.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 10 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 10.39 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9003 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53382) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53382) closed diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93444974fedc3aa256082463e988b8b5db3b61fa --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c927c84d5f0fc6885225e8a63e48dbc19e159c47a777c43d758744177468d932 +size 74518576 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21c8d3a7eec4c5da82e074fde8487da92a2ecc16 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8574368d9cb0a979fc8df042c7162e0e98e379280cb143853865fdd4b3077d5 +size 20371 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ea9552a2a5499d2e9c4ec2d986b455c198e1186 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b36f3749723c97d706f455bf0d614a141fdba6aefe86e031a88cfccbeaab7af +size 103241181 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e9c04e0b4a389ef6aeba5def64706bfcf200a15 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:502301ae49b12444e759e808fe07564777f77ca66bd81fc5ddd2260e79975cd8 +size 34202 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval/episode-0002/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c563e8cda1811f3448f0380b273911aa1a646615 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:032a169124cd0a5598776df22f9f919a9b57d84f56432dcb1cb5f3a59bfc8067 +size 9903 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01f9812e27f05699833191b1f92608e5b7231e1f --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2daf94a953a9f647a7655a4a6eda2cd8da1c19a1498f7cb1105576eb42468c1c +size 696296 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..44f819b62911810017ad62ba3b70f639c8b3cd21 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.vla.log @@ -0,0 +1,19 @@ +INFO:root:Loading model... +INFO:2026-11-05 14:37:07,830:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-05 14:37:07,845:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 722.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.85 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9003 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45820) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45820) closed diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c91b71c05495eb83a572601758b6789632d8b6c --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..836853b39029fb63c7ac25e57004e8ee96a7d6eb --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09f135f27dd09f74c1fa0e1118bb33d3f156a532717f0974879adca848b2fbcf +size 318638 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..066304c60e2ffc4307fa78b49744373b402b6db3 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdf79bd22ac1746bc1107f2481a21bb59c997a33e92e0e6d26b6c2f26c7a4111 +size 6814 diff --git a/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/server.log b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/server.log new file mode 100644 index 0000000000000000000000000000000000000000..cf1ef41388df2aedde7bedd584f7913419fdec29 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/server.log @@ -0,0 +1,89 @@ +[2026-11-05T12:58:49Z] GPU 7: Starting worker at BananaThenRubiksCubeTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9003 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8003 +INFO:websockets.server:server listening on 127.0.0.1:8003 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 35420) opened +INFO:websockets.server:connection rejected (200 OK) +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8be0b34d9b404b79a838f79a4a210cac-0 (codex/gpt-6-astra) ended: wall=1249.388s harness=1119.710s tokens=5700151 usage_complete=False decisions=39 executed_steps=498 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 8789c4cc4b57464eac822acc24b0f35d-1 (codex/gpt-6-astra) execution_error: wall=4311.299s harness=4121.769s tokens=9953278 usage_complete=False decisions=58 executed_steps=744 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T125852.320347Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 501, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 631, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1207, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1214, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-05T14:36:01Z] GPU 7: BananaThenRubiksCubeTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-05T14:36:31Z] GPU 7: Starting worker at BananaThenRubiksCubeTask/1 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9003 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: True +INFO:root:VLA scorer history: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8003 +INFO:websockets.server:server listening on 127.0.0.1:8003 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 35332) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode ef8e0b2ef11c4be9a6e6aba1f6d4c589-1 (codex/gpt-6-astra) ended: wall=1004.495s harness=911.919s tokens=3819535 usage_complete=False decisions=24 executed_steps=352 steps_complete=True network_wait=5.230808794498444 rate_limit_wait=0 rate_limit_count=0 excluded=5.230808794498444 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode ab56ffb04647421ebfe0ddc54295c9af-2 (codex/gpt-6-astra) ended: wall=2388.202s harness=2198.811s tokens=9306843 usage_complete=False decisions=56 executed_steps=737 steps_complete=True network_wait=5.432788290083408 rate_limit_wait=0 rate_limit_count=0 excluded=5.432788290083408 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 024e86fbf9504757b0fa77bbe896af3c-0 (codex/gpt-6-astra) ended: wall=653.827s harness=573.488s tokens=3204311 usage_complete=True decisions=22 executed_steps=295 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode b53d83dfef854d13a6d47507416bcd14-1 (codex/gpt-6-astra) ended: wall=1100.150s harness=977.491s tokens=4986483 usage_complete=False decisions=34 executed_steps=450 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode bea0df0b74ef43a7ab614ca787ad905e-2 (codex/gpt-6-astra) ended: wall=919.736s harness=814.449s tokens=4238259 usage_complete=False decisions=32 executed_steps=389 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/resume_batches/000001/gpu_7/harness/20261105T143633.689549Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 35332) closed +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla_always/assignments.tsv b/harness_robolab_exploration/embo_refine_vla_always/assignments.tsv new file mode 100644 index 0000000000000000000000000000000000000000..ad907f9de87d9848b8bba6ee9a244f6bf062d23d --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/assignments.tsv @@ -0,0 +1,5 @@ +gpu port estimated_seconds tasks +1 8000 14395.854 PlasticBottlesInSquarePailTask OneBottleInSquarePailTask BananasInBinThreeTotalTask BowlStackingRightOnLeftTask +3 8001 13334.856 FruitsOnionToPlateTask BlockStackingSpecifiedOrderTask ReorientRedMugTask BananaThenRubiksCubeTask FoodPacking1CansTask +5 8002 14549.234 MarkerInMugTask SpoonInMugTask ClampInRightBinTask FoodPacking1BoxesTask RubiksCubeThenBananaTask BananaInBowlTask +7 8003 13272.163 SmallPumpkinInBinTask ReorientWhiteMugsTask TakeSpatulaOffShelfTask RedItemsInBinTask MustardInLeftBinTask diff --git a/harness_robolab_exploration/embo_refine_vla_always/batch_manifest.json b/harness_robolab_exploration/embo_refine_vla_always/batch_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3eb44c83b2eea0145c4ee0985af44706e957aef7 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/batch_manifest.json @@ -0,0 +1,39 @@ +{ + "generations": [ + { + "gpus": [ + 1, + 3, + 5, + 7 + ], + "path": "." + } + ], + "policy": "harness", + "runs": 3, + "schema_version": 1, + "task_costs": { + "BananaInBowlTask": 425.86899999999997, + "BananaThenRubiksCubeTask": 719.5473000000001, + "BananasInBinThreeTotalTask": 589.033, + "BlockStackingSpecifiedOrderTask": 905.3386, + "BowlStackingRightOnLeftTask": 451.9177, + "ClampInRightBinTask": 888.4855, + "FoodPacking1BoxesTask": 721.0428, + "FoodPacking1CansTask": 467.5319, + "FruitsOnionToPlateTask": 1483.3265, + "MarkerInMugTask": 1356.3095, + "MustardInLeftBinTask": 503.56759999999997, + "OneBottleInSquarePailTask": 783.6646, + "PlasticBottlesInSquarePailTask": 2974.0027, + "RedItemsInBinTask": 766.2022, + "ReorientRedMugTask": 869.2076999999999, + "ReorientWhiteMugsTask": 1090.1975, + "RubiksCubeThenBananaTask": 522.5474, + "SmallPumpkinInBinTask": 1174.1926, + "SpoonInMugTask": 935.4904, + "TakeSpatulaOffShelfTask": 889.8943 + }, + "task_set": "sub" +} diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/client.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/client.log new file mode 100644 index 0000000000000000000000000000000000000000..8a0eb35dcec88e86149043c13a6ac4811b12735b --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/client.log @@ -0,0 +1,337 @@ +[2026-11-07T07:09:45Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:1 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261107_071219.log +2026-11-07T07:12:19Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-07T07:12:19Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-07T07:12:19Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-07T07:12:19Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-07T07:12:19Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-07T07:12:19Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-07T07:12:20Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-07T07:12:20Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-07T07:12:20Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-07T07:12:20Z [69ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-07T07:12:20Z [79ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-07T07:12:20Z [91ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-07T07:12:20Z [102ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-07T07:12:20Z [157ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-07T07:12:20Z [164ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-07T07:12:20Z [168ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-07T07:12:20Z [175ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-07T07:12:24Z [4,813ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:24Z [4,813ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:24Z [4,931ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T07:12:26Z [6,820ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:26Z [6,821ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:26Z [6,823ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863499 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-07T07:12:30Z [10,977ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-07T07:12:30Z [10,977ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 897.88 1.57 2.84 8.19 8.63 8.40 17.61 17.60 + 1 3.74 904.22 3.55 7.83 5.19 5.47 5.62 17.66 + 2 2.22 2.64 901.10 8.24 6.29 11.47 17.46 17.00 + 3 3.57 3.79 3.97 901.62 4.99 18.86 19.02 18.93 + 4 7.94 10.68 11.71 6.49 906.29 6.46 6.58 15.23 + 5 6.45 6.91 7.14 6.47 6.45 908.00 6.50 7.48 + 6 8.92 7.42 8.02 6.37 6.40 6.41 917.55 6.31 + 7 15.94 17.37 17.16 6.02 6.48 6.47 6.47 901.62 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.41 11.71 13.17 13.67 38.83 22.57 16.90 16.59 + 1 14.56 1.34 14.41 16.13 38.04 21.81 11.51 15.58 + 2 14.75 11.28 1.51 20.54 21.65 42.33 11.46 16.87 + 3 11.48 11.32 12.46 1.40 20.37 41.05 14.22 11.37 + 4 13.22 12.01 11.72 15.19 1.46 148.04 21.42 14.48 + 5 17.67 17.69 19.00 19.76 14.98 1.46 29.85 19.73 + 6 16.30 17.05 15.00 18.15 14.38 28.87 1.49 17.79 + 7 251.10 227.26 219.44 21.50 17.20 43.03 69.23 1.36 + + CPU 0 1 2 3 4 5 6 7 + 0 2.88 9.43 9.14 8.68 7.77 7.52 7.68 7.60 + 1 9.31 2.74 9.04 8.45 7.66 7.67 7.80 7.66 + 2 9.43 13.52 3.61 10.73 9.12 9.02 8.94 9.02 + 3 10.89 10.79 10.89 2.83 7.94 7.81 8.01 7.90 + 4 9.86 9.59 9.66 8.35 2.31 6.62 6.85 6.76 + 5 9.75 9.62 9.67 8.37 6.76 2.25 6.79 6.73 + 6 9.80 9.62 9.69 8.63 6.84 6.75 2.27 7.00 + 7 9.73 9.74 10.09 8.31 6.82 6.52 7.02 2.26 +2026-11-07T07:12:38Z [18,647ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.6 GB/s. +2026-11-07T07:12:38Z [18,647ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 251.1 us. +2026-11-07T07:12:38Z [18,647ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-07T07:12:42Z [22,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,655ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,655ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,679ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,959ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,959ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,965ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,965ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:44Z [24,557ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T07:12:48Z [28,825ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T07:13:01Z [41,574ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T07:13:03Z [43,192ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T07:13:19Z [59,334ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-07T07:13:19Z [59,807ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T07:13:23Z [63,744ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,744ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,745ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:23Z [63,754ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-07T07:13:23Z [63,771ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,771ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask'] +2026-11-07T07:13:38Z [78,955ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x555b1ab03910>) + +2026-11-07T07:13:38Z [78,956ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x555b1ab03910>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask + Environments : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask + Num Tasks : 4 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_1/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T07:13:43Z [83,118ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:1 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.521326 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T07:13:48Z [88,761ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:48Z [88,761ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:48Z [88,835ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:48Z [88,835ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:48Z [88,844ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:48Z [88,853ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T07:13:49Z [89,050ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:49Z [89,074ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:50Z [90,935ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((25))' not available in the MDL representation. +2026-11-07T07:13:50Z [90,935ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((25))' not available in the MDL representation. +2026-11-07T07:13:53Z [93,296ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((50))' not available in the MDL representation. +2026-11-07T07:13:53Z [93,296ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((50))' not available in the MDL representation. +2026-11-07T07:13:53Z [93,959ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((57))' not available in the MDL representation. +2026-11-07T07:13:53Z [93,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((57))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,069ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,069ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,098ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,098ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,117ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,117ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,121ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,122ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,183ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-07T07:13:54Z [94,183ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,195ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,195ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,789ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,789ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,596ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,596ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,687ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,687ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,927ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((183))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,927ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((183))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,937ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((187))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,937ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((187))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,945ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((191))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,945ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((191))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,155ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,155ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,266ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((217))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((217))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,342ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,342ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,184ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-07T07:13:59Z [99,514ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,514ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,515ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,515ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,518ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,518ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,519ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,519ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,522ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((183))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,523ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((183))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,524ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.981625 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : PlasticBottlesInSquarePailTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put all the small plastic bottles in the square pail │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : PlasticBottlesInSquarePailTaskSceneEnvCfg │ +│ Attributes : semantics, sorting, size, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs) + 0%| | 0/2700 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 535.9 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 11.94 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9000 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33100) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33100) closed +INFO:websockets.server:server closed +Traceback (most recent call last): + File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/asyncio/runners.py", line 118, in run diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2155078d5d6cfae8a621f1b20839925c03d19cc4 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40a4f6542828fcd36cf6943a95bd7d97e376bedd7b4a41ef3c4cbfd4428b143b +size 102104285 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96a92a8bf1e6dfc8bc3cabf67ea48f35b2fa1ac0 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1f63d2bd108b08d9bf696bd4458b08aef6b657d806096c5384348f514c074e7 +size 32094 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b8ffc93a005fda4ab16b9163d543645788a86546 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e01c08c0588e687e4f1f6c7354f656cb89438193a22601ed26b4aaff280285a +size 10673174 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1184e60429fed9e485b22ec9a6f80a4233e9a51 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b14e1f19f723e79a1b5206c76327f27787c4a2976918e1cf55ce57e740ca1fc9 +size 2395601 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/env_cfg.json new file mode 100644 index 0000000000000000000000000000000000000000..efd119104cf37f0143444af37fd3758f83eb964e --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/env_cfg.json @@ -0,0 +1 @@ +{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, 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container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9905ff538f9bcd46dae1ac205193c1dca4e88507 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d326e08d1d18c88a8c5cc1d0029d10e32152ec9722665d7d0333e3df4ef2de3 +size 96 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_1/server.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/server.log new file mode 100644 index 0000000000000000000000000000000000000000..b37d143b4e40e1caa238171ffbc93f09abc6ac97 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_1/server.log @@ -0,0 +1,27 @@ +[2026-11-07T07:09:45Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9000 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA always as reference: True +INFO:root:VLA scorer history: False +INFO:root:Serving harness on ws://127.0.0.1:8000 +INFO:websockets.server:server listening on 127.0.0.1:8000 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 36534) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 7e93247a1c2142a4b4218fccb85f058e-0 (codex/gpt-6-astra) interrupted: wall=5875.121s harness=5689.641s tokens=5712676 usage_complete=False decisions=61 executed_steps=488 steps_complete=False network_wait=2118.0125005096197 rate_limit_wait=0 rate_limit_count=0 excluded=2118.0125005096197 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_1/harness/20261107T070948.440003Z_eval.episodes.jsonl +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_3/client.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/client.log new file mode 100644 index 0000000000000000000000000000000000000000..2f9fbadd47786c31aca76346dc34055d4d946a1f --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/client.log @@ -0,0 +1,468 @@ +[2026-11-07T07:09:45Z] GPU 3: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:3 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261107_071219.log +2026-11-07T07:12:19Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-07T07:12:19Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-07T07:12:19Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-07T07:12:19Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-07T07:12:19Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-07T07:12:19Z [36ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-07T07:12:20Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-07T07:12:20Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-07T07:12:20Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-07T07:12:20Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-07T07:12:20Z [75ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-07T07:12:20Z [84ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-07T07:12:20Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-07T07:12:20Z [102ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-07T07:12:20Z [106ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-07T07:12:20Z [158ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-07T07:12:20Z [165ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-07T07:12:24Z [4,813ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:24Z [4,813ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:24Z [4,952ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T07:12:26Z [6,820ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:26Z [6,820ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:26Z [6,821ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863500 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-07T07:12:30Z [10,949ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-07T07:12:30Z [10,950ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 911.44 7.11 5.46 6.01 4.94 4.47 3.61 6.33 + 1 3.12 907.90 6.55 5.62 4.98 5.44 5.38 6.83 + 2 2.48 12.65 902.66 9.74 9.86 5.46 4.27 9.01 + 3 4.08 9.69 8.21 904.75 4.84 6.85 5.62 15.20 + 4 13.70 8.59 5.82 4.39 902.27 6.45 6.47 7.33 + 5 6.96 5.56 5.76 6.47 6.43 902.17 6.47 8.30 + 6 5.57 5.36 6.41 6.38 6.40 7.24 907.38 4.42 + 7 7.94 6.48 6.48 6.47 7.80 8.70 9.49 877.25 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.39 15.12 13.55 15.29 14.26 15.99 16.32 16.29 + 1 16.66 1.41 14.22 12.87 16.62 14.26 17.04 15.28 + 2 12.60 12.38 1.44 11.70 15.04 16.83 14.51 14.51 + 3 11.40 11.55 11.76 1.34 15.41 16.38 16.45 14.49 + 4 11.52 11.97 12.31 14.87 1.44 14.66 15.25 14.29 + 5 11.55 11.36 12.08 15.66 15.35 1.43 14.68 13.63 + 6 13.94 11.34 14.97 15.14 14.53 14.59 1.37 12.73 + 7 11.36 14.90 14.39 14.62 17.08 15.68 15.57 1.40 + + CPU 0 1 2 3 4 5 6 7 + 0 2.34 7.02 8.14 7.96 10.02 9.94 10.46 9.42 + 1 7.03 2.36 8.04 7.58 9.36 9.42 9.97 11.61 + 2 8.15 7.98 3.08 8.98 10.74 11.67 10.66 10.76 + 3 8.06 7.72 9.00 2.97 10.51 10.44 10.58 10.85 + 4 9.02 8.85 10.32 9.78 3.48 11.32 11.42 11.38 + 5 9.04 8.69 9.90 9.67 11.50 3.42 11.32 11.34 + 6 8.84 8.62 9.87 9.81 11.51 11.50 3.55 11.65 + 7 9.05 8.81 9.88 9.80 11.57 11.59 11.73 3.76 +2026-11-07T07:12:38Z [18,933ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.5 GB/s. +2026-11-07T07:12:38Z [18,934ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 17.1 us. +2026-11-07T07:12:38Z [18,934ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-07T07:12:42Z [22,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,655ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,656ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,679ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,679ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,959ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,960ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,965ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,965ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:44Z [24,557ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T07:12:48Z [28,825ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T07:13:01Z [41,574ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T07:13:03Z [43,192ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T07:13:19Z [59,216ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T07:13:19Z [59,219ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-07T07:13:19Z [59,807ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T07:13:24Z [64,279ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:24Z [64,279ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:24Z [64,280ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:24Z [64,289ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-07T07:13:24Z [64,300ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:24Z [64,300ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask'] +2026-11-07T07:13:38Z [78,955ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55ac034f7540>) + +2026-11-07T07:13:38Z [78,956ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55ac034f7540>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask + Environments : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask + Num Tasks : 5 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T07:13:44Z [84,961ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.290530 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T07:13:51Z [91,246ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:51Z [91,247ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:51Z [91,284ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:51Z [91,284ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:51Z [91,294ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:51Z [91,303ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T07:13:51Z [91,598ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:51Z [91,642ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:56Z [96,983ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,983ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,992ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,993ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,993ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,957ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,957ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,970ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,971ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,007ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,007ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,045ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,045ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,045ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,152ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,153ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-07T07:14:00Z [100,580ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:14:00Z [100,580ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:14:00Z [100,581ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,272ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-07T07:14:01Z [101,585ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,585ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,585ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,586ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,586ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,591ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,591ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,591ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,591ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,592ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,592ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,594ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,594ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,595ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,596ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,600ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,600ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,600ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((246))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 14.463646 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FruitsOnionToPlateTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the onion on the plate │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FruitsOnionToPlateTaskSceneEnvCfg │ +│ Attributes : semantics, vague, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T09:09:28Z [7,028,854ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:3 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.187746 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T09:09:32Z [7,032,832ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T09:09:32Z [7,032,833ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T09:09:32Z [7,032,842ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T09:09:32Z [7,032,842ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T09:09:32Z [7,032,851ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T09:09:32Z [7,032,858ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T09:09:32Z [7,032,876ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[INFO]: Time taken for simulation start : 8.818122 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BlockStackingSpecifiedOrderTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BlockStackingSpecifiedOrderTaskSceneEnvCfg │ +│ Attributes : stacking, color, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs) + 0%| | 0/1350 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 536.1 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 11.93 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9001 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52804) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52804) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval/episode-0001/events.jsonl new file mode 100644 index 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{"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the onion on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion on the plate", "vague": "Plate the onion", "specific": "Pick up the round onion and place it on the flat plate"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_0_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c45a426fa39dce77343540b92000f9a435c6e3 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_0_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 132, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..47995dd05082b037cc449d0c7568159265247ee9 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 1, "success": true, "final_step": 382, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.145m", "score": 0.0}, {"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 81, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 165, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.058m", "score": 0.0}, {"step": 213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 214, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 215, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 216, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 243, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.054m", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff681d760879e31b8b72513e1f45270ab99d326 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/FruitsOnionToPlateTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 2, "success": true, "final_step": 124, "events": [{"step": 7, "code": 258, "name": 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b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17250ca7b2a573b7c2fe19b2db7b6b52584d388174d39333b1dcc7ea482199b7 +size 3526 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_3/server.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/server.log new file mode 100644 index 0000000000000000000000000000000000000000..b0519411bf698a6255e985e694941abf23ac1b4e --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_3/server.log @@ -0,0 +1,30 @@ +[2026-11-07T07:09:45Z] GPU 3: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9001 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA always as reference: True +INFO:root:VLA scorer history: False +INFO:root:Serving harness on ws://127.0.0.1:8001 +INFO:websockets.server:server listening on 127.0.0.1:8001 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 60678) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 3df6044e17824d3585db021408242be9-0 (codex/gpt-6-astra) ended: wall=555.528s harness=467.709s tokens=1301452 usage_complete=False decisions=17 executed_steps=132 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 725606304929457e93288011ebd7adf0-1 (codex/gpt-6-astra) ended: wall=3718.088s harness=3461.354s tokens=4422319 usage_complete=False decisions=48 executed_steps=382 steps_complete=True network_wait=1981.0774950757623 rate_limit_wait=0 rate_limit_count=0 excluded=1981.0774950757623 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 2a3eb83696644456911671c4df5c8172-2 (codex/gpt-6-astra) ended: wall=575.510s harness=490.687s tokens=981662 usage_complete=False decisions=16 executed_steps=124 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 25dc80cd9b834500b6f6057b9a82d9c2-0 (codex/gpt-6-astra) interrupted: wall=N/As harness=N/As tokens=1374958 usage_complete=False decisions=26 executed_steps=208 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_3/harness/20261107T070948.440573Z_eval.episodes.jsonl +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_5/client.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/client.log new file mode 100644 index 0000000000000000000000000000000000000000..dc62e10df16c13805e626a838540647f7e6ba027 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/client.log @@ -0,0 +1,538 @@ +[2026-11-07T07:09:45Z] GPU 5: Starting worker at MarkerInMugTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:5 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261107_071219.log +2026-11-07T07:12:19Z [15ms] [Warning] 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'/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-07T07:12:20Z [102ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-07T07:12:20Z [106ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-07T07:12:20Z [158ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-07T07:12:20Z [165ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-07T07:12:25Z [5,727ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:25Z [5,727ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:25Z [5,818ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T07:12:26Z [6,909ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:26Z [6,909ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:26Z [6,910ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863500 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-07T07:12:30Z [11,022ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-07T07:12:30Z [11,022ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 898.18 6.83 6.11 6.11 6.86 6.57 7.25 3.38 + 1 3.52 899.54 6.69 5.80 6.60 4.68 5.04 5.56 + 2 12.38 7.41 899.54 8.04 5.29 4.14 5.91 3.92 + 3 8.15 9.76 6.05 897.99 5.81 5.63 5.55 5.89 + 4 7.54 8.42 5.93 4.30 906.57 6.47 6.47 7.17 + 5 5.92 5.61 5.86 6.46 6.50 900.48 6.46 9.02 + 6 4.31 5.92 7.18 6.88 6.46 6.33 902.14 4.70 + 7 5.89 6.47 6.47 6.70 8.29 8.66 12.52 919.12 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.41 18.79 17.42 16.80 14.75 11.82 12.51 13.03 + 1 16.28 1.44 20.09 16.54 11.65 12.48 11.35 13.21 + 2 17.55 17.35 1.56 16.80 11.53 15.11 13.26 11.70 + 3 17.47 16.81 14.63 1.40 14.84 15.27 12.02 14.76 + 4 13.49 15.00 15.78 14.47 1.42 16.05 12.62 12.09 + 5 15.47 16.23 14.77 12.50 14.81 1.50 10.64 11.22 + 6 14.44 15.30 15.58 14.77 13.82 10.76 1.43 10.33 + 7 15.12 14.72 14.70 14.63 15.53 15.38 11.65 1.43 + + CPU 0 1 2 3 4 5 6 7 + 0 3.04 10.29 11.93 9.75 7.79 7.95 7.74 7.74 + 1 10.16 2.82 9.59 11.68 7.93 7.71 7.82 7.74 + 2 10.95 9.99 2.85 9.70 7.80 7.69 7.85 7.85 + 3 9.84 9.56 9.71 2.83 8.02 7.74 7.68 7.56 + 4 8.54 8.37 8.47 8.54 2.26 6.63 6.58 6.50 + 5 8.47 8.17 8.41 8.14 6.44 2.16 6.36 6.41 + 6 8.54 8.39 8.30 8.42 6.79 6.73 2.42 6.68 + 7 8.75 8.36 8.28 10.24 7.05 7.01 6.81 2.41 +2026-11-07T07:12:38Z [18,932ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.4 GB/s. +2026-11-07T07:12:38Z [18,932ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.1 us. +2026-11-07T07:12:38Z [18,933ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-07T07:12:42Z [22,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,654ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,655ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,679ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,959ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,959ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,964ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,965ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:44Z [24,557ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T07:12:48Z [28,826ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T07:13:01Z [41,574ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T07:13:03Z [43,192ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T07:13:19Z [59,216ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T07:13:19Z [59,219ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-07T07:13:19Z [59,807ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T07:13:23Z [63,727ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,728ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,731ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:23Z [63,750ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-07T07:13:23Z [63,771ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,771ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask'] +2026-11-07T07:13:38Z [78,955ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55f4e44e3720>) + +2026-11-07T07:13:38Z [78,956ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55f4e44e3720>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask + Environments : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask + Num Tasks : 6 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_5/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T07:13:46Z [86,879ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.285948 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T07:13:52Z [92,310ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:52Z [92,311ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:52Z [92,349ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:52Z [92,349ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:52Z [92,357ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:52Z [92,364ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T07:13:52Z [92,649ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:52Z [92,672ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:56Z [96,512ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,513ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,529ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((53))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,530ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((53))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,825ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,826ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,928ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,928ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,961ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,961ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,982ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,982ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,997ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-07T07:13:57Z [97,997ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,010ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,010ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,019ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,020ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,026ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation. +2026-11-07T07:13:57Z [98,026ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,045ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,045ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,088ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,088ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,088ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,099ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,100ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,141ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,142ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,701ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-07T07:13:59Z [99,998ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,999ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,999ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((53))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,999ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((53))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,001ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,001ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,003ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,003ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,004ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,004ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,005ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,005ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,006ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,006ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,006ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,007ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,007ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,007ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,008ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,008ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,009ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,009ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,009ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,010ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,010ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,011ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +2026-11-07T07:13:59Z [100,011ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 10.971673 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : MarkerInMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the whiteboard marker in the mug │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : MarkerInMugTaskSceneEnvCfg │ +│ Attributes : affordance, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs) + 0%| | 0/600 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T08:18:23Z [3,963,783ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.216696 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T08:18:29Z [3,969,129ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T08:18:29Z [3,969,130ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T08:18:29Z [3,969,139ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T08:18:29Z [3,969,139ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T08:18:29Z [3,969,148ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T08:18:29Z [3,969,155ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T08:18:29Z [3,969,174ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T08:18:29Z [3,969,547ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,547ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,590ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,590ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,590ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,597ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,597ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,603ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((378))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,603ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((378))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,613ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,613ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,630ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,630ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,692ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,693ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,721ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,721ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,766ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((433))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,767ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((433))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,790ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,790ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((474))' not available in the MDL representation. +2026-11-07T08:18:29Z [3,969,852ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((474))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,693ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,693ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,695ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,696ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,696ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,697ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,697ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((378))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,698ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((378))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,703ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,704ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,705ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,705ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,707ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((433))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,707ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((433))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,708ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,708ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,710ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((474))' not available in the MDL representation. +2026-11-07T08:18:30Z [3,970,710ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((474))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 4.835003 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : SpoonInMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the metal spoon that's in the wooden bowl in the mug │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : SpoonInMugTaskSceneEnvCfg │ +│ Attributes : affordance, spatial, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs) + 0%| | 0/900 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 537.4 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 11.90 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9002 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34056) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34056) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval/episode-0001/events.jsonl new file mode 100644 index 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b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/robolab/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cabd04bc3555362d4ed0d853e10d8b6bacc3200 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16a79ca459949722d1fde13261a3b4d63fe8e8b964a703688748dd103470b718 +size 3477 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_5/server.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/server.log new file mode 100644 index 0000000000000000000000000000000000000000..9d7f370c77ea0aec8c45412c44af1f2826759df9 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_5/server.log @@ -0,0 +1,30 @@ +[2026-11-07T07:09:45Z] GPU 5: Starting worker at MarkerInMugTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9002 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA always as reference: True +INFO:root:VLA scorer history: False +INFO:root:Serving harness on ws://127.0.0.1:8002 +INFO:websockets.server:server listening on 127.0.0.1:8002 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 56526) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 7e23c6f7a4404459a43214eeff6a15e7-0 (codex/gpt-6-astra) ended: wall=1340.897s harness=1210.427s tokens=2252595 usage_complete=False decisions=28 executed_steps=217 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 0021cc5a046a41e48d320afeffb759b5-1 (codex/gpt-6-astra) ended: wall=876.798s harness=787.978s tokens=1497070 usage_complete=False decisions=19 executed_steps=145 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_5/harness/20261107T070948.439955Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode b7c6d8f5168c40d99957c077ffae4b04-2 (codex/gpt-6-astra) ended: wall=1548.824s harness=1425.887s tokens=1919468 usage_complete=False decisions=24 executed_steps=185 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: 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'/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-07T07:12:20Z [164ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-07T07:12:20Z [169ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-07T07:12:24Z [4,812ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:24Z [4,813ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:24Z [4,942ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T07:12:26Z [6,814ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:26Z [6,816ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:26Z [6,819ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 863500 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-07T07:12:30Z [10,963ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-07T07:12:30Z [10,963ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 893.61 7.16 6.85 4.98 4.79 6.40 5.69 4.60 + 1 3.23 900.58 6.34 6.67 4.22 5.62 4.91 5.61 + 2 10.05 7.80 901.62 9.31 4.32 4.90 6.97 4.25 + 3 9.34 10.13 4.93 895.42 4.30 8.81 5.89 6.28 + 4 13.10 6.25 7.28 4.22 902.04 6.30 6.46 6.47 + 5 16.89 5.50 5.64 5.94 6.46 902.66 6.44 6.48 + 6 18.93 4.99 5.25 6.38 6.37 6.40 912.68 6.33 + 7 4.06 6.03 6.46 6.47 6.81 8.69 8.67 919.66 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.34 65.03 27.30 11.69 18.01 15.67 17.49 13.95 + 1 11.85 1.39 11.76 14.24 15.56 13.57 11.62 12.05 + 2 14.03 17.81 1.44 14.03 12.74 12.55 13.77 12.48 + 3 13.71 15.10 19.69 1.34 11.65 12.46 12.74 14.49 + 4 15.33 15.25 12.40 14.36 1.47 14.89 13.12 20.26 + 5 12.71 17.95 16.12 11.66 11.45 1.42 11.45 20.53 + 6 11.56 16.39 11.88 20.54 11.60 11.71 1.41 11.45 + 7 11.90 12.29 16.36 12.58 11.36 12.06 20.53 1.36 + + CPU 0 1 2 3 4 5 6 7 + 0 3.16 9.61 9.30 9.08 10.79 10.44 10.48 10.51 + 1 9.79 3.00 9.08 8.93 11.87 10.46 10.52 10.34 + 2 10.05 9.03 3.57 8.90 10.58 10.77 10.44 10.18 + 3 8.82 8.74 9.32 5.12 10.60 10.37 10.45 10.31 + 4 10.53 10.43 10.23 20.67 3.61 11.47 11.56 11.43 + 5 10.13 10.07 10.27 9.74 11.43 3.48 11.29 11.21 + 6 10.09 9.85 9.99 9.81 11.47 11.23 3.50 11.42 + 7 10.14 9.78 9.75 9.62 11.37 11.18 11.27 3.37 +2026-11-07T07:12:38Z [18,933ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.2 GB/s. +2026-11-07T07:12:38Z [18,934ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 65.0 us. +2026-11-07T07:12:38Z [18,934ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-07T07:12:42Z [22,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,654ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,655ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,679ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,944ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,945ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,956ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,956ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:42Z [22,964ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T07:12:42Z [22,965ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T07:12:44Z [24,557ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T07:12:48Z [28,825ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T07:13:01Z [41,574ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T07:13:03Z [43,192ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T07:13:19Z [59,216ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T07:13:19Z [59,219ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-07T07:13:19Z [59,807ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T07:13:23Z [63,727ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,728ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,731ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:23Z [63,750ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-07T07:13:23Z [63,770ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-07T07:13:23Z [63,771ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask'] +2026-11-07T07:13:38Z [78,955ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559992b9d440>) + +2026-11-07T07:13:38Z [78,956ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559992b9d440>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask + Environments : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask + Num Tasks : 5 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T07:13:44Z [84,961ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.319731 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T07:13:51Z [91,242ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:51Z [91,243ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:51Z [91,284ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T07:13:51Z [91,284ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:51Z [91,294ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T07:13:51Z [91,303ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T07:13:51Z [91,606ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:51Z [91,639ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T07:13:55Z [95,243ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,244ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,244ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,244ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,244ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,244ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,245ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,269ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,269ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,285ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((52))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,286ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((52))' not available in the MDL representation. +2026-11-07T07:13:55Z [95,286ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((52))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,866ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:13:56Z [96,866ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,054ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,362ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,362ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,363ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,371ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,371ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-07T07:13:58Z [98,371ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,449ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,450ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,450ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,496ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((188))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,496ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((188))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,796ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation. +2026-11-07T07:13:59Z [99,796ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,056ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-07T07:14:01Z [101,498ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,498ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((52))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,499ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((52))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,500ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((52))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,501ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,503ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,503ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,511ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,511ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,512ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,512ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,512ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,513ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,516ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,516ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation. +2026-11-07T07:14:01Z [101,516ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 14.417333 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : SmallPumpkinInBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the small pumpkin in the bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : SmallPumpkinInBinTaskSceneEnvCfg │ +│ Attributes : size, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs) + 0%| | 0/900 [00:00: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x562c52950720>) + +2026-11-07T09:01:34Z [56,124ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x562c52950720>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask + Environments : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask + Num Tasks : 5 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-07T09:01:39Z [61,667ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.383661 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T09:01:45Z [67,767ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T09:01:45Z [67,769ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T09:01:45Z [67,837ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-07T09:01:45Z [67,838ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T09:01:45Z [67,846ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-07T09:01:45Z [67,853ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-07T09:01:46Z [68,148ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T09:01:46Z [68,180ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-07T09:01:47Z [69,886ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((28))' not available in the MDL representation. +2026-11-07T09:01:47Z [69,887ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((28))' not available in the MDL representation. +2026-11-07T09:01:47Z [69,887ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((28))' not available in the MDL representation. +2026-11-07T09:01:47Z [69,935ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((32))' not available in the MDL representation. +2026-11-07T09:01:47Z [69,936ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((32))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,637ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,638ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,638ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,652ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,652ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,656ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation. +2026-11-07T09:01:50Z [72,656ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,641ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,641ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,644ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,644ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,675ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,675ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-07T09:01:51Z [73,700ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-07T09:01:52Z [74,760ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-07T09:01:52Z [74,761ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-07T09:01:54Z [76,103ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((215))' not available in the MDL representation. +2026-11-07T09:01:54Z [76,104ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((215))' not available in the MDL representation. +2026-11-07T09:01:54Z [76,104ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((215))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,529ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-07T09:01:55Z [77,839ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((28))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,839ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((28))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,840ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((28))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,844ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,844ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,844ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,847ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,849ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,849ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,850ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,850ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,850ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,853ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,853ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,860ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((215))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,860ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((215))' not available in the MDL representation. +2026-11-07T09:01:55Z [77,860ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((215))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 13.937821 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : SmallPumpkinInBinTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the small pumpkin in the bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : SmallPumpkinInBinTaskSceneEnvCfg │ +│ Attributes : size, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs) + 0%| | 0/900 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 539.1 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 11.87 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9003 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57348) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57348) closed +INFO:websockets.server:server closed +Traceback (most recent call last): diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1a6c5dd8d3bffe1c900455fff05549be5f24654 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d142c9967f400639b22a3ab45a471bd379fe30a5aa260e2ce2b14be6cb5df0a +size 98337141 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c54c9c1580b119f684ba1a21b6c75a4e8c449299 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d5f669d2e7a94ce9c42f124dcbe42eefcdf3fd1b760b472766ccd23ec7ac762 +size 24768 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ef8af0e96cfdce3c3e1660772a20b6c710a749b --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.episodes.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4898b114c043b75b6d8121817f0fd35b0fbbb4aeb63a9652b1d6a0b6efae224c +size 1957 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8477a827d376a1416640534c05e3852fe23e1a1 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7941f42fb242e48077def89e7ed06b1bbdad9d0297792c22845d2a3e48e7f2be +size 304881 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.vla.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.vla.log new file mode 100644 index 0000000000000000000000000000000000000000..1ffb8734da4e0e0d6ca7e57df2a00e732eb27930 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.vla.log @@ -0,0 +1,20 @@ +INFO:root:Loading model... +INFO:2026-11-07 09:00:05,545:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-07 09:00:05,559:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +INFO:absl:orbax-checkpoint version: 0.11.13 +INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 727.0 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 8.80 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:root:Creating server (host: pt-e6abd2b766274c30bdaa8f35c671844e-worker-0, ip: 10.119.27.60) +INFO:websockets.server:server listening on 0.0.0.0:9003 +INFO:websockets.server:connection open +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41962) opened +INFO:websockets.server:server closing +INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41962) closed +INFO:websockets.server:server closed diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c93d5f2ce27bf932cc9dad18c074a17dcbd67ca --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/events.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90e392ba3cf98aa3a867cdae61ac2de48414001ba708f8bb5eaab1a8c138789c +size 185117215 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/network_timing.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b09aa5fffb32261b59cba5ededc47235557e0482 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/network_timing.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9481f5100dd1986983534171c08b2af365852b95202e724d982df79e39dc006d +size 9964 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval/episode-0001/stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/robolab.resume/20261107T085901.022038Z_e1142227/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4 b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/robolab.resume/20261107T085901.022038Z_e1142227/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f960e2d2676061f69f96c586f423b7ebc1ea42f9 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/robolab.resume/20261107T085901.022038Z_e1142227/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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{"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/robolab/SmallPumpkinInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "policies.harness_policy.hybrid_actions:HybridArmAction", "asset_name": "robot", "debug_vis": false, "clip": null, "pose": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "pumpkinsmall", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinsmall": [["functools.partial(, object='pumpkinsmall')", 0.0], ["functools.partial(, object='pumpkinsmall', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "SmallPumpkinInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the small pumpkin in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put the small pumpkin in the bin", "vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..414e2fe48af2d4f525ec4494756f6d6d0f2afdb8 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d86e1820f34b20a527a5cc71b62bf18d7e9d94d34a2ac510bdf6914a8f9744 +size 872228 diff --git a/harness_robolab_exploration/embo_refine_vla_always/gpu_7/server.log b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/server.log new file mode 100644 index 0000000000000000000000000000000000000000..0bc5ee4d94dc6df33c8ef8a0629907fc5697175f --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/gpu_7/server.log @@ -0,0 +1,82 @@ +[2026-11-07T07:09:46Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9003 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA always as reference: True +INFO:root:VLA scorer history: False +INFO:root:Serving harness on ws://127.0.0.1:8003 +INFO:websockets.server:server listening on 127.0.0.1:8003 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 52640) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 80f236f4110543cca65daa5986c964e8-0 (codex/gpt-6-astra) execution_error: wall=N/As harness=N/As tokens=4589514 usage_complete=False decisions=49 executed_steps=392 steps_complete=False network_wait=2480.5388712584972 rate_limit_wait=0 rate_limit_count=0 excluded=2480.5388712584972 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T070948.440387Z_eval.episodes.jsonl +ERROR:websockets.server:connection handler failed +Traceback (most recent call last): + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler + await self._serve_connection(websocket, managed=managed) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection + response = (await self._infer_harness(websocket, request) if managed + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness + return worker.result() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread + return await loop.run_in_executor(None, func_call) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run + result = self.fn(*self.args, **self.kwargs) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer + command = self._act(request) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act + return self.backend.act(request["observation"], control_step=request["control_step"]) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 478, in act + return self._act_execute(observation, control_step=control_step, deadline=deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 611, in _act_execute + event = self._next_event(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1217, in _next_event + return self._queue.popleft() if self._queue else self._read(deadline) + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1224, in _read + raise TimeoutError("Timed out waiting for Codex") +TimeoutError: Timed out waiting for Codex +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +[2026-11-07T08:59:01Z] GPU 7: SmallPumpkinInBinTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s +[2026-11-07T08:59:31Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=--resume) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9003 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA always as reference: True +INFO:root:VLA scorer history: False +INFO:root:Serving harness on ws://127.0.0.1:8003 +INFO:websockets.server:server listening on 127.0.0.1:8003 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 36262) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode f66a337ed6f0438e9cc18937f6f953e8-0 (codex/gpt-6-astra) interrupted: wall=N/As harness=N/As tokens=2479494 usage_complete=False decisions=98 executed_steps=784 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla_always/gpu_7/harness/20261107T085933.444352Z_eval.episodes.jsonl +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_refine_vla_always/progress.log b/harness_robolab_exploration/embo_refine_vla_always/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..22957aa3caf08042a9265e52dd36e1f1220c1345 --- /dev/null +++ b/harness_robolab_exploration/embo_refine_vla_always/progress.log @@ -0,0 +1,9 @@ +[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage. +[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A +[Batch] GPU 3 finished FruitsOnionToPlateTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 467.709s | Mean Wall 555.528s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 467.709s | Mean Raw Wall 555.528s +[Batch] GPU 5 finished MarkerInMugTask/0: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 839.068s | Mean Wall 948.213s | Mean Tokens N/A (0/2 complete) | Mean Raw Harness 839.068s | Mean Raw Wall 948.213s +[Batch] GPU 5 finished MarkerInMugTask/1: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 822.038s | Mean Wall 924.408s | Mean Tokens N/A (0/3 complete) | Mean Raw Harness 822.038s | Mean Raw Wall 924.408s +[Batch] GPU 5 finished MarkerInMugTask/2: SUCCESS | Tasks 1/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 973.000s | Mean Wall 1080.512s | Mean Tokens N/A (0/4 complete) | Mean Raw Harness 973.000s | Mean Raw Wall 1080.512s +[Batch] GPU 3 finished FruitsOnionToPlateTask/1: SUCCESS | Tasks 1/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 1470.671s | Mean Wall 1608.027s | Mean Tokens N/A (0/5 complete) | Mean Raw Harness 1866.886s | Mean Raw Wall 2004.243s +[Batch] GPU 3 finished FruitsOnionToPlateTask/2: SUCCESS | Tasks 2/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 1307.340s | Mean Wall 1435.941s | Mean Tokens N/A (0/6 complete) | Mean Raw Harness 1637.520s | Mean Raw Wall 1766.120s +[Batch] Final | Tasks 2/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 1307.340s | Mean Wall 1435.941s | Mean Tokens N/A (0/6 complete) | Mean Raw Harness 1637.520s | Mean Raw Wall 1766.120s diff --git a/harness_robolab_exploration/embo_scorer_history/assignments.tsv b/harness_robolab_exploration/embo_scorer_history/assignments.tsv new file mode 100644 index 0000000000000000000000000000000000000000..853569a084ed63cf713fb93caa3c1fbaf6326ff5 --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/assignments.tsv @@ -0,0 +1,3 @@ +gpu port estimated_seconds tasks +5 8100 27248.771 PlasticBottlesInSquarePailTask ReorientWhiteMugsTask BlockStackingSpecifiedOrderTask ClampInRightBinTask OneBottleInSquarePailTask RedItemsInBinTask BananaThenRubiksCubeTask MustardInLeftBinTask BowlStackingRightOnLeftTask +7 8101 28303.335 FruitsOnionToPlateTask MarkerInMugTask SmallPumpkinInBinTask SpoonInMugTask TakeSpatulaOffShelfTask ReorientRedMugTask FoodPacking1BoxesTask BananasInBinThreeTotalTask RubiksCubeThenBananaTask FoodPacking1CansTask BananaInBowlTask diff --git a/harness_robolab_exploration/embo_scorer_history/batch_manifest.json b/harness_robolab_exploration/embo_scorer_history/batch_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..db3f82c91640fbf68fe599de1f3bf25b167ad867 --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/batch_manifest.json @@ -0,0 +1,36 @@ +{ + "generations": [ + { + "gpus": [ + 5, + 7 + ], + "path": "." + } + ], + "runs": 3, + "schema_version": 1, + "task_costs": { + "BananaInBowlTask": 425.86899999999997, + "BananaThenRubiksCubeTask": 719.5473000000001, + "BananasInBinThreeTotalTask": 589.033, + "BlockStackingSpecifiedOrderTask": 905.3386, + "BowlStackingRightOnLeftTask": 451.9177, + "ClampInRightBinTask": 888.4855, + "FoodPacking1BoxesTask": 721.0428, + "FoodPacking1CansTask": 467.5319, + "FruitsOnionToPlateTask": 1483.3265, + "MarkerInMugTask": 1356.3095, + "MustardInLeftBinTask": 503.56759999999997, + "OneBottleInSquarePailTask": 783.6646, + "PlasticBottlesInSquarePailTask": 2974.0027, + "RedItemsInBinTask": 766.2022, + "ReorientRedMugTask": 869.2076999999999, + "ReorientWhiteMugsTask": 1090.1975, + "RubiksCubeThenBananaTask": 522.5474, + "SmallPumpkinInBinTask": 1174.1926, + "SpoonInMugTask": 935.4904, + "TakeSpatulaOffShelfTask": 889.8943 + }, + "task_set": "sub" +} diff --git a/harness_robolab_exploration/embo_scorer_history/gpu_5/client.log b/harness_robolab_exploration/embo_scorer_history/gpu_5/client.log new file mode 100644 index 0000000000000000000000000000000000000000..f6fe96a3ab052a2a3f25df63087a699b3af5c323 --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/gpu_5/client.log @@ -0,0 +1,502 @@ +[2026-11-05T10:58:35Z] GPU 5: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:5 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261105_105946.log +2026-11-05T10:59:46Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-05T10:59:46Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-05T10:59:46Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-05T10:59:46Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-05T10:59:46Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-05T10:59:46Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-05T10:59:46Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-05T10:59:46Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-05T10:59:46Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-05T10:59:46Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-05T10:59:46Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-05T10:59:46Z [58ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-05T10:59:46Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-05T10:59:46Z [66ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-05T10:59:46Z [70ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-05T10:59:46Z [74ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-05T10:59:46Z [81ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-05T10:59:51Z [4,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T10:59:51Z [4,653ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T10:59:51Z [4,744ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-05T10:59:52Z [5,774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T10:59:52Z [5,774ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T10:59:52Z [5,776ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 865586 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-05T10:59:54Z [8,132ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-05T10:59:54Z [8,133ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 896.56 13.12 13.22 12.94 13.08 13.09 13.15 18.58 + 1 13.16 900.58 12.88 13.18 12.67 13.16 13.45 21.61 + 2 13.48 13.23 917.50 13.08 13.16 13.22 13.22 21.93 + 3 13.19 12.76 12.82 926.20 12.54 12.69 12.76 21.13 + 4 10.45 10.28 10.70 8.37 924.86 8.09 10.70 15.82 + 5 10.86 10.89 10.96 7.72 10.00 926.75 4.71 15.91 + 6 6.10 17.53 17.62 16.84 15.88 16.01 926.75 8.92 + 7 12.74 19.64 19.98 19.53 17.56 19.47 18.92 939.57 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.58 13.70 10.60 13.61 14.65 15.59 16.18 15.19 + 1 13.74 1.55 11.18 15.12 15.86 16.21 14.78 13.36 + 2 10.35 12.54 1.41 11.62 13.30 13.86 16.00 16.25 + 3 11.75 14.11 10.56 1.43 15.43 15.29 15.22 15.09 + 4 13.46 14.25 14.57 13.97 1.43 11.84 12.45 11.70 + 5 13.46 14.66 14.63 14.75 12.17 1.38 12.00 13.69 + 6 12.14 11.43 12.65 15.24 11.77 14.37 1.44 13.44 + 7 15.23 12.65 13.85 14.60 12.19 13.24 11.62 1.35 + + CPU 0 1 2 3 4 5 6 7 + 0 2.42 7.17 7.04 7.89 8.80 8.81 8.51 8.44 + 1 6.98 2.23 6.87 6.68 9.01 8.55 8.53 8.26 + 2 7.03 6.77 2.32 6.75 11.37 8.50 8.48 8.63 + 3 7.18 7.00 6.83 2.22 8.60 8.33 8.57 9.11 + 4 8.06 7.91 7.99 7.93 2.79 9.51 9.59 9.56 + 5 7.95 7.93 7.88 7.79 9.45 2.71 9.39 9.71 + 6 8.24 7.86 8.04 8.02 9.66 9.35 2.76 9.63 + 7 7.86 7.76 7.82 7.75 9.42 9.46 9.48 2.73 +2026-11-05T10:59:58Z [12,382ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 4.7 GB/s. +2026-11-05T10:59:58Z [12,382ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 16.2 us. +2026-11-05T10:59:58Z [12,382ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-05T11:00:01Z [15,457ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:01Z [15,457ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,565ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,566ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,582ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,582ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,793ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,793ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,800ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,800ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,807ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,807ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:03Z [16,979ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-05T11:00:07Z [20,657ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-05T11:00:18Z [31,965ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-05T11:00:19Z [33,337ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-05T11:00:34Z [47,576ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-05T11:00:34Z [47,579ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-05T11:00:34Z [48,100ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-05T11:00:37Z [51,343ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T11:00:37Z [51,344ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T11:00:37Z [51,346ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T11:00:37Z [51,365ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-05T11:00:37Z [51,390ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T11:00:37Z [51,390ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 9 task(s): ['PlasticBottlesInSquarePailTask', 'ReorientWhiteMugsTask', 'BlockStackingSpecifiedOrderTask', 'ClampInRightBinTask', 'OneBottleInSquarePailTask', 'RedItemsInBinTask', 'BananaThenRubiksCubeTask', 'MustardInLeftBinTask', 'BowlStackingRightOnLeftTask'] +2026-11-05T11:00:52Z [66,246ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x561c146376d0>) + +2026-11-05T11:00:52Z [66,247ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x561c146376d0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: PlasticBottlesInSquarePailTask, ReorientWhiteMugsTask, BlockStackingSpecifiedOrderTask, ClampInRightBinTask, OneBottleInSquarePailTask, RedItemsInBinTask, BananaThenRubiksCubeTask, MustardInLeftBinTask, BowlStackingRightOnLeftTask + Environments : PlasticBottlesInSquarePailTask, ReorientWhiteMugsTask, BlockStackingSpecifiedOrderTask, ClampInRightBinTask, OneBottleInSquarePailTask, RedItemsInBinTask, BananaThenRubiksCubeTask, MustardInLeftBinTask, BowlStackingRightOnLeftTask + Num Tasks : 9 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T11:00:56Z [70,167ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.549974 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T11:01:02Z [75,977ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T11:01:02Z [75,979ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:01:02Z [76,060ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T11:01:02Z [76,060ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:01:02Z [76,069ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:01:02Z [76,076ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T11:01:02Z [76,276ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T11:01:02Z [76,313ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T11:01:03Z [77,299ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((13))' not available in the MDL representation. +2026-11-05T11:01:03Z [77,299ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((13))' not available in the MDL representation. +2026-11-05T11:01:04Z [78,170ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation. +2026-11-05T11:01:04Z [78,170ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation. +2026-11-05T11:01:04Z [78,216ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((31))' not available in the MDL representation. +2026-11-05T11:01:04Z [78,216ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((31))' not available in the MDL representation. +2026-11-05T11:01:05Z [79,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-05T11:01:05Z [79,499ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((62))' not available in the MDL representation. +2026-11-05T11:01:06Z [79,756ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-11-05T11:01:06Z [79,756ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,766ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,767ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,795ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,795ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,830ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,830ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,847ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,848ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,859ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,859ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,949ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,949ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,960ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,962ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation. +2026-11-05T11:01:07Z [80,962ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation. +2026-11-05T11:01:07Z [81,385ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((192))' not available in the MDL representation. +2026-11-05T11:01:07Z [81,385ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((192))' not available in the MDL representation. +2026-11-05T11:01:07Z [81,465ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((202))' not available in the MDL representation. +2026-11-05T11:01:07Z [81,465ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((202))' not available in the MDL representation. +2026-11-05T11:01:10Z [83,587ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((219))' not available in the MDL representation. +2026-11-05T11:01:10Z [83,587ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((219))' not available in the MDL representation. +2026-11-05T11:01:10Z [83,611ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((221))' not available in the MDL representation. +2026-11-05T11:01:10Z [83,611ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((221))' not available in the MDL representation. +2026-11-05T11:01:11Z [85,495ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((270))' not available in the MDL representation. +2026-11-05T11:01:11Z [85,496ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((270))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,141ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T11:01:12Z [86,426ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((31))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,426ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((31))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,431ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,431ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,434ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,437ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,442ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((221))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,442ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((221))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,446ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((270))' not available in the MDL representation. +2026-11-05T11:01:12Z [86,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((270))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 15.830662 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : PlasticBottlesInSquarePailTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put all the small plastic bottles in the square pail │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : PlasticBottlesInSquarePailTaskSceneEnvCfg │ +│ Attributes : semantics, sorting, size, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs) + 0%| | 0/2700 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T12:18:38Z [4,731,834ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.223506 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T12:18:41Z [4,735,470ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T12:18:41Z [4,735,470ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T12:18:41Z [4,735,479ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T12:18:41Z [4,735,479ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T12:18:41Z [4,735,487ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T12:18:41Z [4,735,494ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T12:18:41Z [4,735,512ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-05T12:18:42Z [4,736,046ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,046ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,078ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,078ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,111ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,111ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,151ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T12:18:42Z [4,736,151ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T12:18:43Z [4,737,210ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((509))' not available in the MDL representation. +2026-11-05T12:18:43Z [4,737,211ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((509))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,753ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,753ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,755ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,755ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,756ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,756ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,757ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,757ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,758ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,758ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,763ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((509))' not available in the MDL representation. +2026-11-05T12:18:44Z [4,737,763ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((509))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 5.868040 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : ReorientWhiteMugsTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : ReorientWhiteMugsTaskSceneEnvCfg │ +│ Attributes : reorientation, color, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs) + 0%| | 0/900 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 570.0 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 11.23 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. +INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid +INFO:websockets.server:server listening on 127.0.0.1:9100 +INFO:websockets.server:connection open 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"score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_scorer_history/gpu_5/robolab/ReorientWhiteMugsTask/run_0.hdf5 b/harness_robolab_exploration/embo_scorer_history/gpu_5/robolab/ReorientWhiteMugsTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9905ff538f9bcd46dae1ac205193c1dca4e88507 --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/gpu_5/robolab/ReorientWhiteMugsTask/run_0.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d326e08d1d18c88a8c5cc1d0029d10e32152ec9722665d7d0333e3df4ef2de3 +size 96 diff --git a/harness_robolab_exploration/embo_scorer_history/gpu_5/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_scorer_history/gpu_5/robolab/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87cd4999c5fa34c843d391690d0680b3d92e815c --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/gpu_5/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e3fc8a0a55cb81f7e7aa157ba6ec49d6c307df6175815f96598e0a1a35eecaa +size 3637 diff --git a/harness_robolab_exploration/embo_scorer_history/gpu_5/server.log b/harness_robolab_exploration/embo_scorer_history/gpu_5/server.log new file mode 100644 index 0000000000000000000000000000000000000000..79e641d4e11dd60af60c274d1a967712c832f72e --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/gpu_5/server.log @@ -0,0 +1,64 @@ +[2026-11-05T10:58:35Z] GPU 5: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9100 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA scorer history: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8100 +INFO:websockets.server:server listening on 127.0.0.1:8100 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 50358) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode b2d75569b04c4a1fb07b97795a66b20e-0 (codex/gpt-6-astra) ended: wall=2215.127s harness=1824.285s tokens=5566484 usage_complete=False decisions=101 executed_steps=1088 steps_complete=True network_wait=192.01435740292072 rate_limit_wait=0 rate_limit_count=0 excluded=192.01435740292072 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 299f6732fdbd4f6eb333c98f82411622-1 (codex/gpt-6-astra) ended: wall=835.539s harness=564.609s tokens=2230506 usage_complete=False decisions=58 executed_steps=744 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode c8063fcc213947cf9e2323d18eb673b6-2 (codex/gpt-6-astra) ended: wall=1303.809s harness=1105.121s tokens=4127622 usage_complete=False decisions=51 executed_steps=548 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode e8154e62b73a4c79a745a3e766dc5c34-0 (codex/gpt-6-astra) interrupted: wall=1669.496s harness=1509.217s tokens=4990161 usage_complete=False decisions=53 executed_steps=459 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_5/harness/20261105T105837.379337Z_eval.episodes.jsonl +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped +ERROR:asyncio:Task exception was never retrieved +future: exception=KeyboardInterrupt()> +Traceback (most recent call last): + File "/data/NTU_slab/draven/proj/codebase/scripts/serve_harness.py", line 335, in + main() + File "/data/NTU_slab/draven/proj/codebase/scripts/serve_harness.py", line 318, in main + WebsocketPolicyServer(policy, host=args.host, port=args.port).serve_forever() + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 64, in serve_forever + asyncio.run(self.run()) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/runners.py", line 44, in run + return loop.run_until_complete(main) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/base_events.py", line 636, in run_until_complete + self.run_forever() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/base_events.py", line 603, in run_forever + self._run_once() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/base_events.py", line 1909, in _run_once + handle._run() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/events.py", line 80, in _run + self._context.run(self._callback, *self._args) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler + await self.handler(connection) + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 92, in _handler + self.policy.close() + File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 269, in close + self.backend.close() + File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1274, in close + self._directory.cleanup() + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/tempfile.py", line 882, in cleanup + self._rmtree(self.name, ignore_errors=self._ignore_cleanup_errors) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/tempfile.py", line 864, in _rmtree + _shutil.rmtree(name, onerror=onerror) + File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/shutil.py", line 729, in rmtree + os.rmdir(path) +KeyboardInterrupt diff --git a/harness_robolab_exploration/embo_scorer_history/gpu_7/client.log b/harness_robolab_exploration/embo_scorer_history/gpu_7/client.log new file mode 100644 index 0000000000000000000000000000000000000000..c2c31e3f4a01b27c0ca53b4c651b1cf1e1618a6b --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/gpu_7/client.log @@ -0,0 +1,531 @@ +[2026-11-05T10:58:35Z] GPU 7: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:7 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261105_105946.log +2026-11-05T10:59:46Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp' +2026-11-05T10:59:46Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp' +2026-11-05T10:59:46Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp' +2026-11-05T10:59:46Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp' +2026-11-05T10:59:46Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp' +2026-11-05T10:59:46Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp' +2026-11-05T10:59:46Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp' +2026-11-05T10:59:46Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp' +2026-11-05T10:59:46Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp' +2026-11-05T10:59:46Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp' +2026-11-05T10:59:46Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp' +2026-11-05T10:59:46Z [58ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp' +2026-11-05T10:59:46Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp' +2026-11-05T10:59:46Z [66ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp' +2026-11-05T10:59:46Z [70ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp' +2026-11-05T10:59:46Z [74ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp' +2026-11-05T10:59:46Z [81ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-11-05T10:59:50Z [4,177ms] [Warning] [carb.omniclient.plugin] 1907538: OmniHub: ThreadId(03) Hub encountered error. Trying to reconnect to Hub. retry_reason="Hub failed to launch: Io(\"Resource temporarily unavailable (os error 11)\")" +2026-11-05T10:59:51Z [4,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T10:59:51Z [4,653ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T10:59:51Z [4,737ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-05T10:59:52Z [5,788ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T10:59:52Z [5,788ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T10:59:52Z [5,789ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 865583 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-11-05T10:59:54Z [8,084ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-11-05T10:59:54Z [8,084ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 912.26 21.38 13.32 13.07 12.23 12.96 13.07 13.15 + 1 18.85 921.83 13.15 12.93 13.22 12.75 13.19 13.20 + 2 22.13 13.55 898.50 13.22 12.38 13.08 13.24 13.23 + 3 22.05 13.19 12.74 901.10 12.79 12.01 12.67 12.75 + 4 12.70 10.01 10.62 9.42 897.34 14.07 10.97 8.77 + 5 18.01 13.50 10.86 10.65 11.62 901.10 14.07 12.09 + 6 17.42 17.51 17.58 17.65 16.25 13.63 896.96 13.75 + 7 19.22 18.80 18.43 16.26 14.96 16.92 10.73 896.96 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.50 19.29 15.98 12.38 14.25 11.82 16.70 24.36 + 1 19.80 1.47 18.86 19.89 18.51 19.46 20.06 29.35 + 2 14.45 47.04 1.46 11.38 11.27 14.61 19.27 27.81 + 3 11.27 13.34 48.05 1.33 11.23 14.24 11.34 24.20 + 4 11.42 20.84 46.32 18.07 1.45 11.48 11.35 23.98 + 5 11.51 11.60 11.51 47.31 11.36 1.49 11.31 23.80 + 6 11.51 11.44 11.50 45.92 11.26 11.34 1.41 20.68 + 7 14.06 123.33 130.91 130.27 44.86 13.21 196.60 1.58 + + CPU 0 1 2 3 4 5 6 7 + 0 3.04 9.56 9.38 9.60 8.31 8.26 8.14 8.15 + 1 9.58 2.90 9.33 9.08 8.33 8.62 8.10 8.21 + 2 9.37 9.25 2.79 8.99 8.15 8.14 8.06 8.26 + 3 9.17 8.95 9.05 2.73 8.22 8.10 7.96 8.06 + 4 8.66 10.45 8.49 8.30 2.49 7.58 7.42 7.54 + 5 8.43 8.29 8.61 8.36 7.50 2.43 7.45 7.59 + 6 8.50 8.25 8.54 8.31 7.45 7.40 2.45 7.80 + 7 8.39 8.35 8.54 8.36 7.72 7.54 7.48 2.47 +2026-11-05T10:59:58Z [11,900ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 8.8 GB/s. +2026-11-05T10:59:58Z [11,900ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 196.6 us. +2026-11-05T10:59:58Z [11,900ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-11-05T11:00:01Z [15,457ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:01Z [15,458ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,566ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,566ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,582ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,582ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,793ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,793ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,800ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,800ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:02Z [15,807ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-05T11:00:02Z [15,807ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-05T11:00:03Z [16,980ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-05T11:00:07Z [20,658ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-05T11:00:18Z [31,965ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-05T11:00:19Z [33,340ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-05T11:00:34Z [47,576ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-05T11:00:34Z [47,579ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-11-05T11:00:34Z [48,100ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-05T11:00:37Z [51,343ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T11:00:37Z [51,344ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T11:00:37Z [51,347ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T11:00:37Z [51,365ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-11-05T11:00:37Z [51,390ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-11-05T11:00:37Z [51,390ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 11 task(s): ['FruitsOnionToPlateTask', 'MarkerInMugTask', 'SmallPumpkinInBinTask', 'SpoonInMugTask', 'TakeSpatulaOffShelfTask', 'ReorientRedMugTask', 'FoodPacking1BoxesTask', 'BananasInBinThreeTotalTask', 'RubiksCubeThenBananaTask', 'FoodPacking1CansTask', 'BananaInBowlTask'] +2026-11-05T11:00:52Z [66,246ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56233a1d9ab0>) + +2026-11-05T11:00:52Z [66,247ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56233a1d9ab0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Environments : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask + Num Tasks : 11 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T11:01:03Z [77,373ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.224867 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T11:01:09Z [83,055ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T11:01:09Z [83,055ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:01:09Z [83,091ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T11:01:09Z [83,091ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:01:09Z [83,100ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:01:09Z [83,107ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T11:01:09Z [83,391ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T11:01:09Z [83,419ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-11-05T11:01:14Z [87,635ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,635ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,849ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,849ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,850ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,864ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,864ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-05T11:01:14Z [87,864ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-05T11:01:16Z [90,088ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-05T11:01:16Z [90,088ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-05T11:01:16Z [90,160ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T11:01:16Z [90,161ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T11:01:16Z [90,161ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T11:01:17Z [91,401ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T11:01:17Z [91,402ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T11:01:18Z [91,715ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((190))' not available in the MDL representation. +2026-11-05T11:01:18Z [91,715ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((190))' not available in the MDL representation. +2026-11-05T11:01:18Z [91,720ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation. +2026-11-05T11:01:18Z [91,720ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation. +2026-11-05T11:01:19Z [93,269ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-11-05T11:01:20Z [93,566ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,566ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,569ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,570ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,570ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,570ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,571ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,571ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,574ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,574ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,577ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,577ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,577ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,579ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,579ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,583ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((190))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,583ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((190))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,584ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation. +2026-11-05T11:01:20Z [93,584ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 14.103768 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FruitsOnionToPlateTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the onion on the plate │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FruitsOnionToPlateTaskSceneEnvCfg │ +│ Attributes : semantics, vague, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-11-05T11:43:40Z [2,633,973ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:7 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.220244 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-05T11:43:44Z [2,638,284ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T11:43:44Z [2,638,284ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:43:44Z [2,638,295ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-11-05T11:43:44Z [2,638,295ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:43:44Z [2,638,304ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-11-05T11:43:44Z [2,638,312ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-11-05T11:43:44Z [2,638,331ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-05T11:43:45Z [2,638,581ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((280))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,582ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((280))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,622ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((293))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,622ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((293))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((326))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,700ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((326))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,754ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,754ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,801ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,801ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,806ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,806ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,847ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((383))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((383))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,901ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,907ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,908ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,945ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,945ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,986ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((446))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,986ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((446))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,638,986ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((446))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,639,013ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((457))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,639,014ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((457))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,639,057ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,639,057ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,639,145ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((530))' not available in the MDL representation. +2026-11-05T11:43:45Z [2,639,145ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((530))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((280))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,675ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((280))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,676ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((293))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,676ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((293))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,678ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((326))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,678ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((326))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,679ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,680ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,681ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,681ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,683ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((383))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,683ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((383))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,684ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,684ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,685ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,685ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,686ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,687ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,688ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((446))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,688ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((446))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,688ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((446))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,689ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((457))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,689ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((457))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,691ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,691ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,694ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((530))' not available in the MDL representation. +2026-11-05T11:43:46Z [2,639,694ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((530))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 3.622269 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 9) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 8 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : MarkerInMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the whiteboard marker in the mug │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : MarkerInMugTaskSceneEnvCfg │ +│ Attributes : affordance, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs) + 0%| | 0/600 [00:00 +INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 585.0 MiB/s (total bytes: 6.2 GiB) (time elapsed: 10 seconds) (per-host) +INFO:absl:Finished restoring checkpoint in 10.94 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params. +INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping. 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b/harness_robolab_exploration/embo_scorer_history/gpu_7/robolab/episode_results.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f643fc9938074660bdbc7e17c3dc6a23f1b94dd96b574a97d8caf76090781ec2 +size 4654 diff --git a/harness_robolab_exploration/embo_scorer_history/gpu_7/server.log b/harness_robolab_exploration/embo_scorer_history/gpu_7/server.log new file mode 100644 index 0000000000000000000000000000000000000000..4eef89eb17c06f7c04c5881628c4f373669ef23e --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/gpu_7/server.log @@ -0,0 +1,31 @@ +[2026-11-05T10:58:35Z] GPU 7: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:src.agent.vla:Loading pi0.5 with /data/NTU_slab/draven/proj/codebase/third_party/openpi/.venv/bin/python; log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.vla.log +INFO:src.agent.vla:pi0.5 warmed up and standing by on port 9101 +INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: True +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: True; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:VLA scorer history: True +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8101 +INFO:websockets.server:server listening on 127.0.0.1:8101 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47618) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode dc2d390658b74b59a1f61aea03787bf2-0 (codex/gpt-6-astra) ended: wall=486.445s harness=362.125s tokens=1604739 usage_complete=False decisions=18 executed_steps=189 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 33e3ecdcb87f45c7a57b16b6e4077fd1-1 (codex/gpt-6-astra) ended: wall=656.994s harness=526.042s tokens=1225123 usage_complete=False decisions=19 executed_steps=195 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode d36b50b7992449e8a05ca81319f5b1a1-2 (codex/gpt-6-astra) ended: wall=1299.841s harness=997.097s tokens=2701783 usage_complete=False decisions=39 executed_steps=463 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 4b7b2fa2e0144927a6da4c4c3f24f694-0 (codex/gpt-6-astra) ended: wall=1056.042s harness=914.286s tokens=2829868 usage_complete=False decisions=28 executed_steps=245 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 427c9fcc4a3643db8a9c1465ad93f6a2-1 (codex/gpt-6-astra) interrupted: wall=2680.340s harness=2459.390s tokens=4944562 usage_complete=False decisions=46 executed_steps=382 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_scorer_history/gpu_7/harness/20261105T105837.379763Z_eval.episodes.jsonl +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_scorer_history/progress.log b/harness_robolab_exploration/embo_scorer_history/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..6361447ec9bcd4a4fbc24c76a3d0776e0af70b17 --- /dev/null +++ b/harness_robolab_exploration/embo_scorer_history/progress.log @@ -0,0 +1,10 @@ +[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage. +[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A +[Batch] GPU 7 finished FruitsOnionToPlateTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 362.125s | Mean Wall 486.445s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 362.125s | Mean Raw Wall 486.445s +[Batch] GPU 7 finished FruitsOnionToPlateTask/1: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 444.083s | Mean Wall 571.719s | Mean Tokens N/A (0/2 complete) | Mean Raw Harness 444.083s | Mean Raw Wall 571.719s +[Batch] GPU 5 finished PlasticBottlesInSquarePailTask/0: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 904.151s | Mean Wall 1119.522s | Mean Tokens N/A (0/3 complete) | Mean Raw Harness 968.155s | Mean Raw Wall 1183.527s +[Batch] GPU 7 finished FruitsOnionToPlateTask/2: SUCCESS | Tasks 1/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 927.387s | Mean Wall 1164.602s | Mean Tokens N/A (0/4 complete) | Mean Raw Harness 975.391s | Mean Raw Wall 1212.605s +[Batch] GPU 5 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 1/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 854.831s | Mean Wall 1098.789s | Mean Tokens N/A (0/5 complete) | Mean Raw Harness 893.234s | Mean Raw Wall 1137.192s +[Batch] GPU 7 finished MarkerInMugTask/0: SUCCESS | Tasks 1/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 864.741s | Mean Wall 1091.665s | Mean Tokens N/A (0/6 complete) | Mean Raw Harness 896.743s | Mean Raw Wall 1123.667s +[Batch] GPU 5 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 2/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 899.081s | Mean Wall 1121.971s | Mean Tokens N/A (0/7 complete) | Mean Raw Harness 926.511s | Mean Raw Wall 1149.402s +[Batch] Final | Tasks 2/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 899.081s | Mean Wall 1121.971s | Mean Tokens N/A (0/7 complete) | Mean Raw Harness 926.511s | Mean Raw Wall 1149.402s diff --git a/harness_robolab_exploration/embo_sol/assignments.tsv b/harness_robolab_exploration/embo_sol/assignments.tsv new file mode 100644 index 0000000000000000000000000000000000000000..808479ecb005ef21714e0ac240d748f32003bcf6 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/assignments.tsv @@ -0,0 +1,5 @@ +gpu port estimated_seconds tasks +4 8020 14395.854 PlasticBottlesInSquarePailTask OneBottleInSquarePailTask BananasInBinThreeTotalTask BowlStackingRightOnLeftTask +5 8021 13334.856 FruitsOnionToPlateTask BlockStackingSpecifiedOrderTask ReorientRedMugTask BananaThenRubiksCubeTask FoodPacking1CansTask +6 8022 14549.234 MarkerInMugTask SpoonInMugTask ClampInRightBinTask FoodPacking1BoxesTask RubiksCubeThenBananaTask BananaInBowlTask +7 8023 13272.163 SmallPumpkinInBinTask ReorientWhiteMugsTask TakeSpatulaOffShelfTask RedItemsInBinTask MustardInLeftBinTask diff --git a/harness_robolab_exploration/embo_sol/batch_manifest.json b/harness_robolab_exploration/embo_sol/batch_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b25a5178c85e463404eeebb9fb2d2586fd957168 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/batch_manifest.json @@ -0,0 +1,38 @@ +{ + "generations": [ + { + "gpus": [ + 4, + 5, + 6, + 7 + ], + "path": "." + } + ], + "runs": 3, + "schema_version": 1, + "task_costs": { + "BananaInBowlTask": 425.86899999999997, + "BananaThenRubiksCubeTask": 719.5473000000001, + "BananasInBinThreeTotalTask": 589.033, + "BlockStackingSpecifiedOrderTask": 905.3386, + "BowlStackingRightOnLeftTask": 451.9177, + "ClampInRightBinTask": 888.4855, + "FoodPacking1BoxesTask": 721.0428, + "FoodPacking1CansTask": 467.5319, + "FruitsOnionToPlateTask": 1483.3265, + "MarkerInMugTask": 1356.3095, + "MustardInLeftBinTask": 503.56759999999997, + "OneBottleInSquarePailTask": 783.6646, + "PlasticBottlesInSquarePailTask": 2974.0027, + "RedItemsInBinTask": 766.2022, + "ReorientRedMugTask": 869.2076999999999, + "ReorientWhiteMugsTask": 1090.1975, + "RubiksCubeThenBananaTask": 522.5474, + "SmallPumpkinInBinTask": 1174.1926, + "SpoonInMugTask": 935.4904, + "TakeSpatulaOffShelfTask": 889.8943 + }, + "task_set": "sub" +} diff --git a/harness_robolab_exploration/embo_sol/gpu_4/client.log b/harness_robolab_exploration/embo_sol/gpu_4/client.log new file mode 100644 index 0000000000000000000000000000000000000000..8bc3b977fc84f33bc6c252b4b8ab5930bd41b246 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_4/client.log @@ -0,0 +1,869 @@ +[2026-10-30T16:03:41Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:4 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261030_160347.log +2026-10-30T16:03:47Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-10-30T16:03:52Z [5,313ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:03:52Z [5,314ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:03:52Z [5,500ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-10-30T16:03:53Z [6,774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:03:53Z [6,775ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:03:53Z [6,776ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 701580 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-10-30T16:03:58Z [11,129ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-10-30T16:03:58Z [11,129ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 912.68 2.15 3.69 6.11 11.08 13.14 13.04 16.60 + 1 5.31 920.30 3.67 13.16 12.79 13.14 11.23 14.08 + 2 7.98 13.50 895.93 5.98 9.22 17.96 5.56 14.88 + 3 11.47 12.47 11.05 923.46 7.04 12.06 9.34 9.41 + 4 8.78 9.38 9.18 9.46 897.01 14.10 16.37 15.13 + 5 11.45 10.75 9.98 18.24 16.90 922.37 7.87 16.08 + 6 12.61 9.17 9.46 10.84 16.12 16.30 922.27 4.91 + 7 9.62 18.84 19.27 19.20 16.69 18.23 18.43 939.51 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.44 13.99 15.56 15.63 16.71 16.59 15.34 14.92 + 1 19.98 1.48 15.88 12.01 14.78 16.16 14.29 16.50 + 2 18.52 15.67 1.48 16.20 15.89 16.90 14.59 17.41 + 3 11.73 16.75 17.00 1.51 15.49 13.72 14.40 15.99 + 4 13.30 13.53 13.28 14.77 1.46 12.78 13.89 12.78 + 5 13.30 12.51 12.39 13.19 12.71 1.46 12.94 14.39 + 6 12.20 11.59 11.57 13.71 12.61 12.93 1.48 15.28 + 7 12.83 14.16 12.72 13.76 13.96 12.07 14.07 1.45 + + CPU 0 1 2 3 4 5 6 7 + 0 4.10 13.17 13.63 13.82 10.66 11.78 10.97 10.05 + 1 12.78 3.74 12.76 12.02 10.64 12.59 12.62 11.16 + 2 13.76 12.85 4.55 14.10 12.16 10.60 10.58 10.53 + 3 12.12 12.49 12.99 3.43 10.89 10.50 10.86 11.23 + 4 12.73 11.34 11.97 12.19 3.13 8.91 8.83 9.03 + 5 17.04 10.69 11.90 10.65 10.56 2.92 9.21 9.65 + 6 11.00 10.70 11.03 11.39 9.14 9.79 3.52 9.12 + 7 11.30 10.81 12.38 12.03 9.08 9.24 9.40 3.34 +2026-10-30T16:04:03Z [16,519ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.2 GB/s. +2026-10-30T16:04:03Z [16,520ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.0 us. +2026-10-30T16:04:03Z [16,520ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-10-30T16:04:06Z [19,178ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,179ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,261ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,261ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,274ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,453ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,453ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,458ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,458ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,462ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,462ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:07Z [20,617ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-10-30T16:04:11Z [24,552ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-10-30T16:04:21Z [34,771ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-10-30T16:04:22Z [35,551ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-10-30T16:04:36Z [49,446ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-10-30T16:04:36Z [49,448ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-10-30T16:04:36Z [49,819ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-10-30T16:04:40Z [53,723ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-10-30T16:04:40Z [53,724ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-10-30T16:04:40Z [53,724ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-10-30T16:04:40Z [53,758ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +2026-10-30T16:04:40Z [53,815ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-10-30T16:04:40Z [53,815ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask'] +2026-10-30T16:04:56Z [69,191ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55ce0dc3d7f0>) + +2026-10-30T16:04:56Z [69,192ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55ce0dc3d7f0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask + Environments : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask + Num Tasks : 4 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T16:05:00Z [73,108ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:4 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.391170 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T16:05:05Z [78,525ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T16:05:05Z [78,526ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T16:05:05Z [78,563ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T16:05:05Z [78,563ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T16:05:05Z [78,572ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T16:05:05Z [78,580ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T16:05:05Z [78,795ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-10-30T16:05:05Z [78,838ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-10-30T16:05:09Z [82,165ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((42))' not available in the MDL representation. +2026-10-30T16:05:09Z [82,165ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((42))' not available in the MDL representation. +2026-10-30T16:05:09Z [82,306ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((49))' not available in the MDL representation. +2026-10-30T16:05:09Z [82,306ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((49))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,462ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,463ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,468ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,468ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,562ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,562ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,594ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation. +2026-10-30T16:05:10Z [83,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation. +2026-10-30T16:05:11Z [84,315ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation. +2026-10-30T16:05:11Z [84,315ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation. +2026-10-30T16:05:11Z [84,328ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-10-30T16:05:11Z [84,328ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation. +2026-10-30T16:05:11Z [84,345ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation. +2026-10-30T16:05:11Z [84,345ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation. +2026-10-30T16:05:12Z [85,486ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-10-30T16:05:12Z [85,486ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation. +2026-10-30T16:05:26Z [99,857ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-10-30T16:05:26Z [99,858ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-10-30T16:05:26Z [99,869ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation. +2026-10-30T16:05:26Z [99,870ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation. +2026-10-30T16:05:27Z [100,120ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-10-30T16:05:27Z [100,120ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((160))' not available in the MDL representation. +2026-10-30T16:05:27Z [100,145ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:27Z [100,146ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:29Z [102,528ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation. +2026-10-30T16:05:29Z [102,528ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation. +2026-10-30T16:05:29Z [102,579ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((220))' not available in the MDL representation. +2026-10-30T16:05:29Z [102,579ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((220))' not available in the MDL representation. +2026-10-30T16:05:30Z [102,939ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((240))' not available in the MDL representation. +2026-10-30T16:05:30Z [102,940ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((240))' not available in the MDL representation. +2026-10-30T16:05:30Z [103,004ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation. +2026-10-30T16:05:30Z [103,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation. +2026-10-30T16:05:31Z [103,921ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-10-30T16:05:31Z [104,304ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((49))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,304ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((49))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,308ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,308ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,310ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,310ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,313ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,313ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,314ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,314ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,315ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,316ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 30.915243 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : PlasticBottlesInSquarePailTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put all the small plastic bottles in the square pail │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : PlasticBottlesInSquarePailTaskSceneEnvCfg │ +│ Attributes : semantics, sorting, size, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs) + 0%| | 0/2700 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T19:11:45Z [11,278,735ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:4 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.249114 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T19:11:50Z [11,283,385ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T19:11:50Z [11,283,385ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T19:11:50Z [11,283,395ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T19:11:50Z [11,283,395ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T19:11:50Z [11,283,402ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T19:11:50Z [11,283,411ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T19:11:50Z [11,283,427ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-10-30T19:11:50Z [11,283,688ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,688ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,689ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,690ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,690ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,690ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,690ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,690ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,696ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,697ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((327))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,735ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((342))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,735ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((342))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,766ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((353))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,766ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((353))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,775ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((358))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,775ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((358))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,784ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((364))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,784ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((364))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,802ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((368))' not available in the MDL representation. +2026-10-30T19:11:50Z [11,283,802ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((368))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,283,983ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((377))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,283,983ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((377))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,283,998ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((386))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,283,998ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((386))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,022ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,022ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,275ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,275ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,285ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,285ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,501ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((416))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((416))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,518ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((422))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,518ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((422))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,758ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,758ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,758ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,758ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,758ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,758ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,759ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,760ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:51Z [11,284,760ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((463))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,008ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,008ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,041ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((521))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,041ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((521))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,057ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,057ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,057ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,058ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,059ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,059ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,059ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,059ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:52Z [11,285,059ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((529))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((353))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((353))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((368))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,952ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((368))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((392))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((407))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((409))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,957ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((422))' not available in the MDL representation. +2026-10-30T19:11:53Z [11,285,957ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((422))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 7.079836 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : OneBottleInSquarePailTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put any white plastic bottle in the square pail │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : OneBottleInSquarePailTaskSceneEnvCfg │ +│ Attributes : semantics, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running OneBottleInSquarePailTask_0: 'Put any white plastic bottle in the square pail' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T21:23:52Z [19,205,056ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:4 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.203426 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T21:23:55Z [19,208,840ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-10-30T21:23:56Z [19,208,944ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T21:23:56Z [19,208,944ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T21:23:56Z [19,208,953ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T21:23:56Z [19,208,954ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T21:23:56Z [19,208,962ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T21:23:56Z [19,208,970ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T21:23:57Z [19,210,575ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((754))' not available in the MDL representation. +2026-10-30T21:23:57Z [19,210,575ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((754))' not available in the MDL representation. +2026-10-30T21:23:58Z [19,211,099ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((754))' not available in the MDL representation. +2026-10-30T21:23:58Z [19,211,100ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((754))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 5.952264 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BananasInBinThreeTotalTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Make sure there are 3 (three) bananas in the grey bin. │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BananasInBinThreeTotalTaskSceneEnvCfg │ +│ Attributes : semantics, counting, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BananasInBinThreeTotalTask_0: 'Make sure there are 3 (three) bananas in the grey bin.' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T22:34:18Z [23,431,201ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:4 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.182214 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T22:34:21Z [23,434,510ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T22:34:21Z [23,434,511ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T22:34:21Z [23,434,521ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T22:34:21Z [23,434,521ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T22:34:21Z [23,434,530ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T22:34:21Z [23,434,540ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T22:34:22Z [23,435,443ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:34:22Z [23,435,444ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:34:23Z [23,436,766ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:34:23Z [23,436,767ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 5.492570 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BowlStackingRightOnLeftTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Stack the right bowl on the left bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BowlStackingRightOnLeftTaskSceneEnvCfg │ +│ Attributes : spatial, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BowlStackingRightOnLeftTask_0: 'Stack the right bowl on the left bowl' (run 0, 1 envs) + 0%| | 0/300 [00:00, object='banana')", 0.0], ["functools.partial(, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_01": [["functools.partial(, object='banana_01')", 0.0], ["functools.partial(, object='banana_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(, object='banana_03')", 0.0], ["functools.partial(, object='banana_03', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_sol/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..e773e446353163e9a072c70a93b6bbc39a4e5514 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 25, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.064m", "score": 0.0}, {"step": 26, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.085m", "score": 0.0}, {"step": 26, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.076m", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.060m", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 295, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", 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a/harness_robolab_exploration/embo_sol/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..6f12b43ebc770a7a013e81d67c51166065faf379 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 2227, "events": [{"step": 80, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 98, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.068m", "score": 0.0}, {"step": 159, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 165, "code": 258, "name": "OBJECT_BUMPED", 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"name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.189m", "score": 0.0}, {"step": 713, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 713, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 713, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 930, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 990, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.084m", "score": 0.3333333333333333}, {"step": 1021, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.084m", "score": 0.3333333333333333}, {"step": 1103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1241, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1283, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.151m", "score": 0.6666666666666666}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.108m", "score": 0.6666666666666666}, {"step": 1372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper 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{"step": 1652, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.059m", "score": 0.6666666666666666}, {"step": 1738, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.217m", "score": 0.6666666666666666}, {"step": 1821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1920, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1928, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1928, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2083, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2083, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2084, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2227, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_sol/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..a5b10aabe99c59265c2cc194dc6feda6542c0d8e --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.068m", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 611, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 613, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 614, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 643, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.348m", "score": 0.0}, {"step": 657, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.056m", "score": 0.0}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.173m", "score": 0.0}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.302m", "score": 0.0}, {"step": 808, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.154m", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 859, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.0}, {"step": 865, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 869, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.0}, {"step": 917, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.093m", "score": 0.0}, {"step": 971, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.208m", "score": 0.0}, {"step": 1305, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 1306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 1306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1448, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1450, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1490, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 1497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.072m", "score": 0.0}, {"step": 1505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.070m", "score": 0.0}, {"step": 1516, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1519, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 1529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.304m", "score": 0.0}, {"step": 1605, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1608, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1624, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1629, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1682, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1698, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1950, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 1994, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.050m", "score": 0.0}, {"step": 2177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.096m", "score": 0.0}, {"step": 2179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2183, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2194, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 2218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2223, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2224, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2248, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.091m", "score": 0.0}, {"step": 2305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.144m", "score": 0.0}, {"step": 2314, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 2324, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.742m", "score": 0.0}, {"step": 2337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.094m", "score": 0.0}, {"step": 2369, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.077m", "score": 0.0}, {"step": 2426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2468, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2478, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.084m", "score": 0.0}, {"step": 2483, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2489, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.054m", "score": 0.0}, {"step": 2497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2500, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2507, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.095m", "score": 0.0}, {"step": 2525, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.105m", "score": 0.0}, {"step": 2554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2569, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2570, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.253m", "score": 0.0}, {"step": 2634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2682, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 2683, "code": 0, "name": "OK", 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GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false) +INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex +INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds +INFO:root:Backend: codex; model: gpt-6.1-sol; effort: medium; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.jsonl +INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:root:Plan before execution: False +INFO:root:Multi-action execution: False +INFO:root:GPT action format: eef_absolute +INFO:root:Manipulation notes included: False; selected file: note.md +INFO:root:Adaptive action chunk: False +INFO:root:Configured fixed action chunk size: 8 frames +INFO:root:Async inference: False; reserved tail steps: 5 +INFO:root:Async prompt included: False +INFO:root:VLA as reference: False +INFO:root:Shared memory: disabled; mode: text +INFO:root:Serving harness on ws://127.0.0.1:8020 +INFO:websockets.server:server listening on 127.0.0.1:8020 +INFO:websockets.server:connection rejected (200 OK) +INFO:websockets.server:connection open +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 33464) opened +INFO:src.evaluation.robolab_bench.episode_stats:Episode 3827b144d35f4de2bea676c410837b6f-0 (codex/gpt-6.1-sol) ended: wall=4131.547s harness=3195.471s tokens=12383072 usage_complete=False decisions=338 executed_steps=2700 steps_complete=True network_wait=1381.0618698969483 rate_limit_wait=0 rate_limit_count=0 excluded=1381.0618698969483 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode f7e3fb4e54de4636882f419e59f65b4b-1 (codex/gpt-6.1-sol) ended: wall=2142.437s harness=1366.326s tokens=5739304 usage_complete=False decisions=279 executed_steps=2227 steps_complete=True network_wait=366.2153513804078 rate_limit_wait=0 rate_limit_count=0 excluded=366.2153513804078 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 91b90dff24214ca2aebe78c4bd3c6675-2 (codex/gpt-6.1-sol) ended: wall=2597.071s harness=1672.275s tokens=9017779 usage_complete=False decisions=338 executed_steps=2700 steps_complete=True network_wait=456.8379797786474 rate_limit_wait=0 rate_limit_count=0 excluded=456.8379797786474 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode e8f0f5ef568347f29292545640061be8-0 (codex/gpt-6.1-sol) ended: wall=2275.085s harness=1965.411s tokens=10354363 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=345.0527479723096 rate_limit_wait=0 rate_limit_count=0 excluded=345.0527479723096 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 86c4b083c8b64586877ea7d4fb74dc77-1 (codex/gpt-6.1-sol) ended: wall=2516.998s harness=2212.087s tokens=9731798 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=184.3425615951419 rate_limit_wait=0 rate_limit_count=0 excluded=184.3425615951419 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 00e27995ea024fbc8777edd57f6b7e05-2 (codex/gpt-6.1-sol) ended: wall=2395.588s harness=2089.365s tokens=9852984 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=106.04839560389519 rate_limit_wait=0 rate_limit_count=0 excluded=106.04839560389519 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 25cd7c4917b045d78416f205a96f9f88-0 (codex/gpt-6.1-sol) ended: wall=1971.554s harness=1708.846s tokens=9903693 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=80.75861287862062 rate_limit_wait=0 rate_limit_count=0 excluded=80.75861287862062 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 6dc9ba49555847f8b3ff2f5f8c366cef-1 (codex/gpt-6.1-sol) ended: wall=1290.216s harness=1118.929s tokens=5636824 usage_complete=True decisions=70 executed_steps=558 steps_complete=True network_wait=60.81544506549835 rate_limit_wait=0 rate_limit_count=0 excluded=60.81544506549835 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 222b22f524954a40911e816ce4ec5728-2 (codex/gpt-6.1-sol) ended: wall=673.741s harness=547.798s tokens=4023692 usage_complete=True decisions=53 executed_steps=424 steps_complete=True network_wait=76.58767000585794 rate_limit_wait=0 rate_limit_count=0 excluded=76.58767000585794 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode fbd30329ce054d3c82537579a9fb613d-0 (codex/gpt-6.1-sol) ended: wall=523.917s harness=457.616s tokens=2768131 usage_complete=True decisions=38 executed_steps=300 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 0b94bb38254a429aa9a0943997cf15e7-1 (codex/gpt-6.1-sol) ended: wall=288.832s harness=250.808s tokens=1519937 usage_complete=True decisions=21 executed_steps=165 steps_complete=True network_wait=20.0471678301692 rate_limit_wait=0 rate_limit_count=0 excluded=20.0471678301692 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.episode_stats:Episode 7e7ec083c5f644a9aae31b1df53bf26f-2 (codex/gpt-6.1-sol) ended: wall=520.280s harness=456.136s tokens=2678610 usage_complete=True decisions=36 executed_steps=285 steps_complete=True network_wait=14.493708275258541 rate_limit_wait=0 rate_limit_count=0 excluded=14.493708275258541 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_4/harness/20261030T160344.644046Z_eval.episodes.jsonl +INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 33464) closed +INFO:websockets.server:server closing +INFO:websockets.server:server closed +INFO:root:Harness server stopped diff --git a/harness_robolab_exploration/embo_sol/gpu_5/client.log b/harness_robolab_exploration/embo_sol/gpu_5/client.log new file mode 100644 index 0000000000000000000000000000000000000000..6db8eb06704475e4809771a8129c723b54045771 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_5/client.log @@ -0,0 +1,943 @@ +[2026-10-30T16:03:41Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false) +[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp. +[INFO][AppLauncher]: Using device: cuda:5 +[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit +[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. +[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) +Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json' +[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261030_160347.log +2026-10-30T16:03:47Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp' +2026-10-30T16:03:52Z [4,977ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:03:52Z [4,977ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:03:52Z [5,083ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-10-30T16:03:53Z [6,777ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:03:53Z [6,778ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:03:53Z [6,779ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available + +|---------------------------------------------------------------------------------------------| +| Driver Version: 550.144.03 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c099352d.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | c3b5b1bf.. | +| | | | | | 25 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | de6efd62.. | +| | | | | | 41 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 080d1ae6.. | +| | | | | | 61 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | ef801622.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 4571552e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 2b1e4e40.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 7 | NVIDIA GeForce RTX 4090 | | | 24810 MB | 10de | 0 | +| | | | | | 2684 | 7fb4268b.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64 +| Processor: AMD EPYC 7543 32-Core Processor +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 983040 | Free Memory: 701586 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-10-30T16:03:58Z [11,142ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. +2026-10-30T16:03:58Z [11,143ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation. +Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s) + D\D 0 1 2 3 4 5 6 7 + 0 918.63 3.32 2.82 6.49 8.53 12.90 13.03 13.21 + 1 4.74 908.43 3.87 15.02 12.82 13.21 12.83 12.04 + 2 16.55 15.49 902.14 9.23 19.31 16.36 15.86 12.43 + 3 20.30 17.73 21.98 926.75 21.18 21.88 15.94 14.17 + 4 17.93 16.59 9.65 11.91 896.68 11.84 9.12 6.71 + 5 11.07 10.36 9.59 9.75 4.01 868.54 7.48 9.69 + 6 13.84 15.53 13.36 13.08 7.51 8.21 855.70 8.41 + 7 18.09 22.43 17.42 17.81 15.79 16.87 13.21 918.58 +P2P=Enabled Latency (P2P Writes) Matrix (us) + GPU 0 1 2 3 4 5 6 7 + 0 1.36 13.01 12.65 11.06 14.79 11.55 15.36 25.37 + 1 15.93 1.42 15.61 17.53 17.82 17.60 17.88 29.35 + 2 10.68 35.79 1.37 12.51 12.21 12.29 18.73 29.73 + 3 10.52 10.75 47.56 1.37 12.27 11.17 11.99 23.89 + 4 11.42 12.03 41.78 12.07 1.34 11.35 11.27 20.11 + 5 11.69 12.63 14.19 49.24 11.49 1.47 11.51 24.15 + 6 11.67 13.57 11.50 50.70 11.51 11.58 1.37 23.07 + 7 69.05 14.07 379.12 93.54 19.10 410.91 17.23 1.37 + + CPU 0 1 2 3 4 5 6 7 + 0 2.40 7.11 7.08 8.27 7.86 7.52 7.57 7.62 + 1 7.14 2.37 6.89 6.67 7.46 7.36 7.40 7.48 + 2 6.95 6.82 4.00 8.82 7.76 7.31 7.59 10.26 + 3 6.90 6.75 6.86 2.34 7.41 7.29 7.48 7.47 + 4 7.31 7.16 7.33 7.10 2.56 7.81 7.85 8.13 + 5 7.29 7.03 7.08 7.10 7.80 2.46 7.93 7.87 + 6 7.27 7.15 7.18 7.15 7.91 7.80 2.53 7.98 + 7 7.22 7.05 7.24 7.16 7.81 7.91 7.97 2.56 +2026-10-30T16:04:03Z [16,094ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.8 GB/s. +2026-10-30T16:04:03Z [16,095ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 410.9 us. +2026-10-30T16:04:03Z [16,095ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected. +2026-10-30T16:04:06Z [19,182ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,182ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,264ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,277ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,277ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,451ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,451ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,456ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,456ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:06Z [19,461ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-10-30T16:04:06Z [19,462ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-10-30T16:04:07Z [20,620ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-10-30T16:04:11Z [24,555ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-10-30T16:04:21Z [34,775ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-10-30T16:04:22Z [35,566ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-10-30T16:04:36Z [49,436ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-10-30T16:04:36Z [49,438ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled +2026-10-30T16:04:36Z [49,822ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-10-30T16:04:40Z [53,698ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-10-30T16:04:40Z [53,699ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-10-30T16:04:40Z [53,700ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-10-30T16:04:40Z [53,709ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +2026-10-30T16:04:40Z [53,720ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +2026-10-30T16:04:40Z [53,720ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled +[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask'] +2026-10-30T16:04:56Z [69,196ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5603afa946e0>) + +2026-10-30T16:04:56Z [69,196ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5603afa946e0>) + +══════════════════════════════════════════════════════════════ + RoboLab Experiment +────────────────────────────────────────────────────────────── + Filter : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask + Environments : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask + Num Tasks : 5 + Num Envs : 1 + Episodes : 3 per task + Policy : harness + Instr. Type : default + Output : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/robolab +══════════════════════════════════════════════════════════════ +[INFO] Subtask progress checking ON +[INFO] Image observations recording OFF +[INFO]: Parsing configuration from: .GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T16:05:02Z [75,145ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 2.287878 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T16:05:30Z [103,170ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T16:05:30Z [103,170ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T16:05:30Z [103,202ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T16:05:30Z [103,202ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T16:05:30Z [103,210ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T16:05:30Z [103,217ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T16:05:30Z [103,486ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-10-30T16:05:30Z [103,538ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled +2026-10-30T16:05:31Z [104,493ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((16))' not available in the MDL representation. +2026-10-30T16:05:31Z [104,493ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((16))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,149ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((130))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,149ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((130))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,149ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((130))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,190ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,190ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,228ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,229ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-10-30T16:05:36Z [109,229ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-10-30T16:05:37Z [110,135ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:37Z [110,136ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:37Z [110,141ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-10-30T16:05:37Z [110,141ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-10-30T16:05:38Z [111,436ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((182))' not available in the MDL representation. +2026-10-30T16:05:38Z [111,436ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((182))' not available in the MDL representation. +2026-10-30T16:05:39Z [112,326ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation. +2026-10-30T16:05:39Z [112,326ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation. +2026-10-30T16:05:39Z [112,326ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation. +2026-10-30T16:05:40Z [112,997ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300. +2026-10-30T16:05:40Z [113,334ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((16))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,335ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((16))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,344ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((130))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,344ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((130))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,344ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((130))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,346ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,346ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,348ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,348ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,348ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,349ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,349ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,350ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,350ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((182))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,352ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((182))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,355ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,355ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation. +2026-10-30T16:05:40Z [113,355ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 36.049544 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FruitsOnionToPlateTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the onion on the plate │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FruitsOnionToPlateTaskSceneEnvCfg │ +│ Attributes : semantics, vague, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T19:05:33Z [10,906,718ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.197730 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T19:05:50Z [10,923,291ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T19:05:50Z [10,923,292ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T19:05:50Z [10,923,300ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T19:05:50Z [10,923,300ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T19:05:50Z [10,923,308ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T19:05:50Z [10,923,315ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T19:05:50Z [10,923,332ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[INFO]: Time taken for simulation start : 21.807600 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BlockStackingSpecifiedOrderTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BlockStackingSpecifiedOrderTaskSceneEnvCfg │ +│ Attributes : stacking, color, complex │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs) + 0%| | 0/1350 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T21:44:40Z [20,453,109ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.227223 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T21:44:43Z [20,456,370ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-10-30T21:44:43Z [20,456,698ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T21:44:43Z [20,456,698ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T21:44:43Z [20,456,707ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T21:44:43Z [20,456,708ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T21:44:43Z [20,456,716ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T21:44:43Z [20,456,723ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T21:44:44Z [20,457,772ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,773ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((667))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,852ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((667))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,859ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,859ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation. +2026-10-30T21:44:44Z [20,457,880ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation. +2026-10-30T21:44:45Z [20,458,358ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((741))' not available in the MDL representation. +2026-10-30T21:44:45Z [20,458,359ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((741))' not available in the MDL representation. +2026-10-30T21:44:45Z [20,458,420ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((774))' not available in the MDL representation. +2026-10-30T21:44:45Z [20,458,420ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((774))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,941ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,941ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,943ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((667))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,943ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((667))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,944ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,944ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,945ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,945ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,948ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((741))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,949ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((741))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((774))' not available in the MDL representation. +2026-10-30T21:44:46Z [20,458,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((774))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 5.722549 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : ReorientRedMugTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Put the red mug upright so that the opening is facing upwards. │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : ReorientRedMugTaskSceneEnvCfg │ +│ Attributes : reorientation, color, moderate │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-30T22:41:43Z [23,876,159ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.184231 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-30T22:41:45Z [23,878,374ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T22:41:45Z [23,878,375ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T22:41:45Z [23,878,384ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-30T22:41:45Z [23,878,384ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T22:41:45Z [23,878,392ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-30T22:41:45Z [23,878,401ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-30T22:41:45Z [23,878,696ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:41:45Z [23,878,696ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:41:45Z [23,878,735ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation. +2026-10-30T22:41:45Z [23,878,735ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation. +2026-10-30T22:41:45Z [23,878,785ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation. +2026-10-30T22:41:45Z [23,878,785ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation. +2026-10-30T22:41:46Z [23,879,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:41:46Z [23,879,450ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((863))' not available in the MDL representation. +2026-10-30T22:41:46Z [23,879,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation. +2026-10-30T22:41:46Z [23,879,452ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation. +2026-10-30T22:41:46Z [23,879,454ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation. +2026-10-30T22:41:46Z [23,879,455ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 3.219549 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : BananaThenRubiksCubeTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : put the banana then the cube in the bowl │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : BananaThenRubiksCubeTaskSceneEnvCfg │ +│ Attributes : conjunction, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs) + 0%| | 0/900 [00:00.GeneratedTaskEnvCfg'> +Setting seed: 0 +2026-10-31T00:08:20Z [29,072,958ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it +[INFO]: Base environment: + Environment device : cuda:5 + Environment seed : 0 + Physics step-size : 0.008333333333333333 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +[INFO]: Time taken for scene creation : 0.208271 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-10-31T00:08:24Z [29,077,607ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-31T00:08:24Z [29,077,607ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-31T00:08:24Z [29,077,616ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead. +2026-10-31T00:08:24Z [29,077,616ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-31T00:08:24Z [29,077,625ms] [Warning] [isaaclab.actuators.actuator_pd] The object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead. +2026-10-31T00:08:24Z [29,077,633ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13. +2026-10-31T00:08:26Z [29,079,052ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1148))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,052ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1148))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,073ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1152))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,073ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1152))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,086ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1158))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,086ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1158))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,386ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1212))' not available in the MDL representation. +2026-10-31T00:08:26Z [29,079,386ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1212))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,142ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1148))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,142ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1148))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,143ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1152))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,144ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1152))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,145ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1158))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,145ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1158))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,148ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1212))' not available in the MDL representation. +2026-10-31T00:08:27Z [29,080,148ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1212))' not available in the MDL representation. +[INFO]: Time taken for simulation start : 7.084066 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------+ +| Active Event Terms in Mode: 'reset' | ++---------------+---------------+ +| Index | Name | ++---------------+---------------+ +| 0 | reset | ++---------------+---------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++----------------------------------+ +| Active Action Terms (shape: 8) | ++-------+--------------+-----------+ +| Index | Name | Dimension | ++-------+--------------+-----------+ +| 0 | arm_action | 7 | +| 1 | finger_joint | 1 | ++-------+--------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++----------------------------------------------------+ +| Active Observation Terms in Group: 'image_obs' | ++-------+---------------------------+----------------+ +| Index | Name | Shape | ++-------+---------------------------+----------------+ +| 0 | over_shoulder_left_camera | (720, 1280, 3) | +| 1 | wrist_cam | (720, 1280, 3) | ++-------+---------------------------+----------------+ ++------------------------------------------------+ +| Active Observation Terms in Group: 'proprio_obs' | ++-----------+------------------------+-----------+ +| Index | Name | Shape | ++-----------+------------------------+-----------+ +| 0 | arm_joint_pos | (7,) | +| 1 | gripper_pos | (1,) | +| 2 | ee_pos | (3,) | +| 3 | ee_quat | (4,) | +| 4 | eef_pos | (3,) | +| 5 | eef_quat | (4,) | ++-----------+------------------------+-----------+ ++-------------------------------------------------------+ +| Active Observation Terms in Group: 'viewport_cam' | ++--------+-----------------------------+----------------+ +| Index | Name | Shape | ++--------+-----------------------------+----------------+ +| 0 | egocentric_mirrored_camera | (480, 864, 3) | ++--------+-----------------------------+----------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +┌──────────────────────────────────────────────────────────────┐ +│ Environment : FoodPacking1CansTask │ +├──────────────────────────────────────────────────────────────┤ +│ Instruction : Pack canned foods into the bin │ +│ Instr. Type : default │ +│ Seed : 0 │ +│ Policy : harness │ +│ Scene : FoodPacking1CansTaskSceneEnvCfg │ +│ Attributes : semantics, simple │ +└──────────────────────────────────────────────────────────────┘ +[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs) + 0%| | 0/900 [00:00, object='banana')", 0.0], ["functools.partial(, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"rubiks_cube": [["functools.partial(, object='rubiks_cube')", 0.0], ["functools.partial(, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "BananaThenRubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"} \ No newline at end of file diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..27785de583d5f3304f3ae1f8f96fc66e6c3af98b --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 501, "events": [{"step": 15, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 21, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 92, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 107, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 111, "code": 0, "name": "OK", "info": 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--git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d089a3cb8d133f79567a50627d43417ce93ff1 --- /dev/null +++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 774, "events": [{"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 84, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", 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