diff --git a/.gitattributes b/.gitattributes index 346c219c3dbb9b6e89bc789d64a3db917ee451e4..b22688f9fc3fa78427d1ac5c55c3064c9fc62bb9 100644 --- a/.gitattributes +++ b/.gitattributes @@ -5423,3 +5423,17 @@ smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/l smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task06_085000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task06_085000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task06_085000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10/videos/libero_goal_3/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10/videos/libero_goal_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task08_a10/videos/libero_goal_8/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..888819d166fee96b6fa93999ad2609f234c64be2 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10/eval.log @@ -0,0 +1,8854 @@ + +[2026-09-24T15:15:00+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[2]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task02 +INFO 2026-09-24 15:15:08 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_goal', + 'task_ids': [2]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 15:15:08 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10 +INFO 2026-09-24 15:15:08 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 15:15:08 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 15:15:08 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 2026-09-24 15:15:08 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 2026-09-24 15:15:08 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=2 | n_envs=1 +INFO 2026-09-24 15:15:08 bot_eval.py:790 Making policy. +INFO 2026-09-24 15:15:09 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 2 + +0.0% + +0.0% + +100.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10/videos/libero_goal_2/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10/videos/libero_goal_2/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7afbdf739f2645dedb80690071ec919d3e0944f6 Binary files /dev/null and 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--policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[3]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task03 +INFO 2026-09-24 15:31:47 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_goal', + 'task_ids': [3]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 15:31:47 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10 +INFO 2026-09-24 15:31:47 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 15:31:47 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 15:31:47 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 2026-09-24 15:31:47 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 2026-09-24 15:31:47 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=3 | n_envs=1 +INFO 2026-09-24 15:31:47 bot_eval.py:790 Making policy. +INFO 2026-09-24 15:31:47 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 3 + +0.0% + +0.0% + +0.0% + +100.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10/videos/libero_goal_3/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10/videos/libero_goal_3/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd6d5c060044bb36e723061677f8fa45304d2574 Binary files /dev/null and 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b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10/videos/libero_goal_3/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..747b36a70f86397dcd52a06e6b361edd7d76adca Binary files /dev/null and b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task03_a10/videos/libero_goal_3/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..3c572945439e84bcc26865f8bbe26ad8bba5c7db --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/eval.log @@ -0,0 +1,7146 @@ + +[2026-09-24T15:44:30+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[4]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task04 +INFO 2026-09-24 15:44:38 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_goal', + 'task_ids': [4]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 15:44:38 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10 +INFO 2026-09-24 15:44:38 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 15:44:38 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 15:44:38 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 2026-09-24 15:44:38 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 2026-09-24 15:44:38 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=4 | n_envs=1 +INFO 2026-09-24 15:44:39 bot_eval.py:790 Making policy. +INFO 2026-09-24 15:44:39 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 4 + +0.0% + +0.0% + +0.0% + +0.0% + +100.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2cfe3ea602ef177aef4c2f64dba7e8aa81bce4fb --- /dev/null +++ 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index 0000000000000000000000000000000000000000..67ea504c520cf4415fa7430c169f6c5fe2a387ed Binary files /dev/null and b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..3c2d79f464e2c52d913b086fc551fc30647708b1 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/eval.log @@ -0,0 +1,9855 @@ + +[2026-09-24T16:01:36+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[5]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task05 +INFO 2026-09-24 16:01:48 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_goal', + 'task_ids': [5]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 16:01:48 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10 +INFO 2026-09-24 16:01:48 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 16:01:48 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 16:01:48 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 2026-09-24 16:01:48 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 2026-09-24 16:01:48 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=5 | n_envs=1 +INFO 2026-09-24 16:01:48 bot_eval.py:790 Making policy. +INFO 2026-09-24 16:01:48 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 5 + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +100.0% + +0.0% + +0.0% + +0.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d9e48a71bbfe40711d69783e52141eff778e368 Binary files /dev/null and b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a0719aa9e739c4e765069046518cb4bbdb065ec2 Binary files /dev/null and b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 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b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..745bf177e0147631c72cbf7c5f226cc1d426d6bc Binary files /dev/null and b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c20e8471a9877b47699d21f226a8261654375692 Binary files /dev/null and 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b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..9f869a250abe41950d59480d4acfbf6f7d8c9d6c --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/eval.log @@ -0,0 +1,12069 @@ + +[2026-09-24T16:14:51+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[6]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task06 +INFO 2026-09-24 16:14:58 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_goal', + 'task_ids': [6]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 16:14:58 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10 +INFO 2026-09-24 16:14:58 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 16:14:58 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 16:14:58 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 2026-09-24 16:14:58 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 2026-09-24 16:14:58 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=6 | n_envs=1 +INFO 2026-09-24 16:14:59 bot_eval.py:790 Making policy. +INFO 2026-09-24 16:14:59 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 6 + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +100.0% + +0.0% + +0.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..249b600c5bd0ae4dabe8cdb0b356509149e6f6fa --- /dev/null +++ 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a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..992f0b42ba2b827073cf90dd5a96554ae0e0abd8 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10/eval.log @@ -0,0 +1,8501 @@ + +[2026-09-24T16:38:47+09:00] COMMAND: /home/tml_lab/miniforge3/envs/lerobot/bin/python -m lerobot.scripts.lerobot_eval --policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[7]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task07 +INFO 2026-09-24 16:39:03 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_goal', + 'task_ids': [7]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 16:39:03 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10 +INFO 2026-09-24 16:39:03 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 16:39:03 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 16:39:03 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 2026-09-24 16:39:03 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 2026-09-24 16:39:03 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=7 | n_envs=1 +INFO 2026-09-24 16:39:04 bot_eval.py:790 Making policy. +INFO 2026-09-24 16:39:04 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 7 + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +100.0% + +0.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10/videos/libero_goal_7/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task07_a10/videos/libero_goal_7/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cce618d3b2957bfee48948df0568438687bb5052 Binary files /dev/null and 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--policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[8]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task08_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task08 +INFO 2026-09-24 16:52:51 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_goal', + 'task_ids': [8]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 16:52:51 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task08_a10 +INFO 2026-09-24 16:52:51 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 16:52:51 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 16:52:51 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 2026-09-24 16:52:51 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 2026-09-24 16:52:51 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=8 | n_envs=1 +INFO 2026-09-24 16:52:52 bot_eval.py:790 Making policy. +INFO 2026-09-24 16:52:52 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 8 + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +100.0% + +0.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task08_a10/videos/libero_goal_8/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task08_a10/videos/libero_goal_8/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..978ef810dc50591ad07151f18328d9a6614953b9 Binary files /dev/null and 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--policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[9]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task09 +INFO 2026-09-24 17:10:37 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_goal', + 'task_ids': [9]}, + 'eval': {'batch_size': 1, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': None, + 'use_async_envs': True}, + 'job_name': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task04_075000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/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': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 17:10:37 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10 +INFO 2026-09-24 17:10:37 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 17:10:37 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 17:10:37 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 2026-09-24 17:10:37 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 2026-09-24 17:10:37 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=1 | 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_goal | task_id=9 | n_envs=1 +INFO 2026-09-24 17:10:38 bot_eval.py:790 Making policy. +INFO 2026-09-24 17:10:38 /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 + +GK expert activation by evaluation task +Cells show mean activation weight per router invocation +Expert 0 +Expert 1 +Expert 2 +Expert 3 +Expert 4 +Expert 5 +Expert 6 +Expert 7 +Expert 8 +Expert 9 +libero_goal / task 9 + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +0.0% + +100.0% +Top-1 produces one-hot activations; weighted routing displays mixture weights. + diff --git a/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task09_a10/videos/libero_goal_9/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e9dcda08cdee378c3cef2b7aae9a1c272f6a9f58 Binary files /dev/null and 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