diff --git a/.gitattributes b/.gitattributes index d8c010a19798546bc78cda2c23479ba5c5b0ddf8..8f06b4691a79aeb933199c6dac0ed85d30794118 100644 --- a/.gitattributes +++ b/.gitattributes @@ -223,3 +223,205 @@ smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task06_ smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task06_a10/videos/libero_10_6/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/videos/libero_10_8/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10/videos/libero_10_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10/videos/libero_10_0/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10/videos/libero_10_1/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10/videos/libero_10_2/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10/videos/libero_10_0/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10/videos/libero_10_1/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10/videos/libero_10_2/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10/videos/libero_10_3/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task05_a10/videos/libero_10_5/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task05_a10/videos/libero_10_5/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task05_a10/videos/libero_10_5/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task05_a10/videos/libero_10_5/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10/videos/libero_10_6/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10/videos/libero_10_8/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10/videos/libero_10_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10/videos/libero_10_0/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10/videos/libero_10_1/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10/videos/libero_10_2/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10/videos/libero_10_3/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10/videos/libero_10_0/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..82588362c50896f622a14be2e1e8ef1ad6b6a789 --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e42c5d1640fd2d104abb16ee5f344c19171b591723fba1f0408c05a39a836767 +size 238544 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bec584c035671cdb816f5bae5a48a7d67da4731e --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b23ccea1fc1a8141a01be3bef4cfa9266facf40da5b66af0cb3b41c94cec46d2 +size 203952 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..040c14d70546082782d022705cd7eb165c6f14df --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52bc103ce6952e643818cb7112a9bc26a5c24113bc77a2fd7993a56bf67cb31d +size 155266 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c38e27d093fb66ac8d522cd6ced8751e2417b0e8 --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4b5ed8fbd95c517281d9bfe0d9d0ff02e18bf84cfba5340a880d0951d5af500 +size 222451 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6dddb1c029dc7a68098be147c683bc4118b6b535 --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a92e5996a304217cfce67bade8388d7ad2023eacc02af52bcfe28c4f9d9d0633 +size 200710 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e55f2ac631ec19402814d8b874c99815335e4fed --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c26327d36d95a699e33711aec7b9a43ed52ff3fa6084cf25b54c989a8798873c +size 230257 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45378bfaad45d44034e9318836430483e0b38971 --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61335fe524a158d9bcf84254774b83723afbbf458bd0202855f40bfaa8ebdda1 +size 219553 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6c2647e84982e762191fca036025718660a65542 --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:530884100d5c47e2d092db6afdf3c6ab06ac17f7c64ec52690f137e81108dfe1 +size 215051 diff --git a/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/eval.log b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..9b469e20828c2ba97f9fe99885cdb5784156494c --- /dev/null +++ b/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10/eval.log @@ -0,0 +1,1604 @@ + +[2026-09-25T12:57:08+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task01_060000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[8]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task01_060000_task08 --eval.tail_task_key=libero_10_task08 +INFO 2026-09-25 12:57:37 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task08', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task01_060000_task08', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task01_060000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:57:37 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task08_a10 +INFO 2026-09-25 12:57:37 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:57:37 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:57:37 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 12:57:37 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 12:57:37 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=8 | n_envs=50 +INFO 2026-09-25 12:57:38 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:57:38 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task09', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task01_060000_task09', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task01_060000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:06:02 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task01_060000/eval_task09_a10 +INFO 2026-09-25 13:06:02 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:06:02 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:06:02 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:06:02 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:06:02 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=9 | n_envs=50 +INFO 2026-09-25 13:06:03 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:06:03 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00", line 198, in _run_module_as_main + File "", line 88, in _run_code + File "/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/src/lerobot/scripts/lerobot_eval.py", line 68, in + import gymnasium as gym +ModuleNotFoundError: No module named 'gymnasium' + +[2026-09-25T03:23:14+09:00] COMMAND: /usr/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[0]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task00 --eval.tail_task_key=libero_10_task00 +Traceback (most recent call last): + File "", line 198, in _run_module_as_main + File "", line 88, in _run_code + File "/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/src/lerobot/scripts/lerobot_eval.py", line 68, in + import gymnasium as gym +ModuleNotFoundError: No module named 'gymnasium' + +[2026-09-25T03:36:13+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[0]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task00 --eval.tail_task_key=libero_10_task00 +INFO 2026-09-25 03:36:24 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [0]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task00', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task00', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:36:24 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task00_a10 +INFO 2026-09-25 03:36:24 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:36:24 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:36:24 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:36:24 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:36:24 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[0] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=0 | n_envs=50 +INFO 2026-09-25 03:36:24 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:36:24 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00", line 198, in _run_module_as_main + File "", line 88, in _run_code + File "/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/src/lerobot/scripts/lerobot_eval.py", line 68, in + import gymnasium as gym +ModuleNotFoundError: No module named 'gymnasium' + +[2026-09-25T03:23:14+09:00] COMMAND: /usr/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[1]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task01 --eval.tail_task_key=libero_10_task01 +Traceback (most recent call last): + File "", line 198, in _run_module_as_main + File "", line 88, in _run_code + File "/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/src/lerobot/scripts/lerobot_eval.py", line 68, in + import gymnasium as gym +ModuleNotFoundError: No module named 'gymnasium' + +[2026-09-25T03:40:50+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[1]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task01 --eval.tail_task_key=libero_10_task01 +INFO 2026-09-25 03:40:58 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [1]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task01', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task01', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:40:58 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task01_a10 +INFO 2026-09-25 03:40:58 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:40:58 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:40:58 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:40:58 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:40:58 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[1] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=1 | n_envs=50 +INFO 2026-09-25 03:40:58 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:40:58 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00", line 198, in _run_module_as_main + File "", line 88, in _run_code + File "/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/src/lerobot/scripts/lerobot_eval.py", line 68, in + import gymnasium as gym +ModuleNotFoundError: No module named 'gymnasium' + +[2026-09-25T03:23:14+09:00] COMMAND: /usr/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[2]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task02 --eval.tail_task_key=libero_10_task02 + +[2026-09-25T03:44:46+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[2]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10 --job_name=smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task02 --eval.tail_task_key=libero_10_task02 +INFO 2026-09-25 03:44:56 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [2]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task02', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_015000_task02', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_015000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:44:56 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_015000/eval_task02_a10 +INFO 2026-09-25 03:44:56 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:44:56 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:44:56 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:44:56 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:44:56 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[2] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=2 | n_envs=50 +INFO 2026-09-25 03:44:56 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:44:56 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [0]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task00', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task00', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:14:53 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task00_a10 +INFO 2026-09-25 13:14:53 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:14:53 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:14:53 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:14:53 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:14:53 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[0] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=0 | n_envs=50 +INFO 2026-09-25 13:14:54 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:14:54 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [1]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task01', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task01', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:23:19 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task01_a10 +INFO 2026-09-25 13:23:19 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:23:19 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:23:19 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:23:19 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:23:19 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[1] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=1 | n_envs=50 +INFO 2026-09-25 13:23:20 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:23:20 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [2]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task02', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task02', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:32:14 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task02_a10 +INFO 2026-09-25 13:32:14 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:32:14 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:32:14 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:32:14 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:32:14 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[2] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=2 | n_envs=50 +INFO 2026-09-25 13:32:15 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:32:15 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [3]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task03', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task03', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:40:27 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task03_a10 +INFO 2026-09-25 13:40:27 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:40:27 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:40:27 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:40:27 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:40:27 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[3] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=3 | n_envs=50 +INFO 2026-09-25 13:40:28 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:40:28 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [4]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task04', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task04', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:49:02 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task04_a10 +INFO 2026-09-25 13:49:02 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:49:02 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:49:02 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:49:02 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:49:02 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[4] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=4 | n_envs=50 +INFO 2026-09-25 13:49:03 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:49:03 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [5]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task05', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task05', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task05_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:57:17 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task05_a10 +INFO 2026-09-25 13:57:17 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:57:17 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:57:17 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:57:17 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:57:18 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[5] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=5 | n_envs=50 +INFO 2026-09-25 13:57:19 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:57:19 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [6]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task06', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task06', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:05:45 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task06_a10 +INFO 2026-09-25 14:05:45 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:05:45 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:05:45 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:05:45 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:05:45 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[6] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=6 | n_envs=50 +INFO 2026-09-25 14:05:46 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:05:46 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task07', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task07', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:14:13 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task07_a10 +INFO 2026-09-25 14:14:13 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:14:13 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:14:13 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:14:13 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:14:13 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=7 | n_envs=50 +INFO 2026-09-25 14:14:14 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:14:14 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task08', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task08', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:22:55 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task08_a10 +INFO 2026-09-25 14:22:55 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:22:55 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:22:55 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:22:55 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:22:55 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=8 | n_envs=50 +INFO 2026-09-25 14:22:56 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:22:56 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task09', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task02_065000_task09', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task02_065000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:30:52 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task02_065000/eval_task09_a10 +INFO 2026-09-25 14:30:52 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:30:52 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:30:52 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:30:52 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:30:52 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=9 | n_envs=50 +INFO 2026-09-25 14:30:53 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:30:53 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [0]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task00', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task03_020000_task00', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task03_020000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:53:18 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task00_a10 +INFO 2026-09-25 03:53:18 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:53:18 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:53:18 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:53:18 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:53:18 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[0] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=0 | n_envs=50 +INFO 2026-09-25 03:53:19 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:53:19 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [1]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task01', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task03_020000_task01', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task03_020000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 04:01:14 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task01_a10 +INFO 2026-09-25 04:01:14 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 04:01:14 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 04:01:14 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 04:01:14 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 04:01:14 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[1] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=1 | n_envs=50 +INFO 2026-09-25 04:01:15 bot_eval.py:790 Making policy. +INFO 2026-09-25 04:01:15 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [2]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task02', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task03_020000_task02', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task03_020000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 04:09:55 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task02_a10 +INFO 2026-09-25 04:09:55 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 04:09:55 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 04:09:55 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 04:09:55 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 04:09:55 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[2] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=2 | n_envs=50 +INFO 2026-09-25 04:09:56 bot_eval.py:790 Making policy. +INFO 2026-09-25 04:09:56 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [3]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task03', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task03_020000_task03', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task03_020000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 04:17:27 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_020000/eval_task03_a10 +INFO 2026-09-25 04:17:27 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 04:17:27 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 04:17:27 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 04:17:27 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 04:17:27 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[3] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=3 | n_envs=50 +INFO 2026-09-25 04:17:28 bot_eval.py:790 Making policy. +INFO 2026-09-25 04:17:28 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [0]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task00', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task03_070000_task00', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task03_070000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:39:20 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task00_a10 +INFO 2026-09-25 14:39:20 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:39:20 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:39:20 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:39:20 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:39:20 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[0] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=0 | n_envs=50 +INFO 2026-09-25 14:39:21 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:39:21 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [1]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task01', + 'use_async_envs': True}, + 'job_name': 'smolvla_boundary_tail_libero_10_2e-3_split2_libero_10_task03_070000_task01', + 'output_dir': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task01_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/train/smolvla-split-boundary_tail-libero/smolvla_boundary_tail_libero_10_2e-3_split2/checkpoints/libero_10_task03_070000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:47:28 bot_eval.py:780 Output dir: /NHNHOME/26msit001_A/BASE/tml-lab/mk/lerobot-061-cl/outputs/eval/smolvla-split-boundary_tail-libero-3000/smolvla_boundary_tail_libero_10_2e-3_split2/libero_10_task03_070000/eval_task01_a10 +INFO 2026-09-25 14:47:28 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:47:28 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:47:28 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:47:28 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:47:28 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[1] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=1 | n_envs=50 +INFO 2026-09-25 14:47:28 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:47:28 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00