diff --git a/.gitattributes b/.gitattributes index 5a1cad335a9e47cad430727a621ead18de4b9dc9..a57f8037e8beba336fcf60f9b802dddcf08aea6c 100644 --- a/.gitattributes +++ b/.gitattributes @@ -5522,3 +5522,17 @@ smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_spli smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task05_080000/eval_task09_a10/videos/libero_object_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task05_080000/eval_task09_a10/videos/libero_object_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task05_080000/eval_task09_a10/videos/libero_object_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/videos/libero_object_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/videos/libero_object_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/videos/libero_object_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/videos/libero_object_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task01_a10/videos/libero_object_1/eval_episode_2.mp4 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filter=lfs diff=lfs merge=lfs -text diff --git a/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..913f2f70f83f54f0fe2aae73e2cdcb71938ac176 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10/eval.log @@ -0,0 +1,14882 @@ + +[2026-09-24T22:15:46+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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_object '--env.task_ids=[0]' --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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10 --job_name=17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task00 +INFO 2026-09-24 22:16:19 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_object', + 'task_ids': [0]}, + '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': '17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/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 22:16:19 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task00_a10 +INFO 2026-09-24 22:16:19 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 22:16:19 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 22:16:19 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 2026-09-24 22:16:19 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 2026-09-24 22:16:19 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_object'] | n_envs(per task)=1 | 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_object | task_id=0 | n_envs=1 +INFO 2026-09-24 22:16:20 bot_eval.py:790 Making policy. +INFO 2026-09-24 22:16:20 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! 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--policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_object '--env.task_ids=[1]' --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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task01_a10 --job_name=17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task01 +INFO 2026-09-24 22:46:12 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_object', + 'task_ids': [1]}, + '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': '17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/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('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/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 22:46:12 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task01_a10 +INFO 2026-09-24 22:46:12 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 22:46:12 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 22:46:12 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 22:46:12 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 22:46:12 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_object'] | n_envs(per task)=1 | 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_object | task_id=1 | n_envs=1 +INFO 2026-09-24 22:46:13 bot_eval.py:790 Making policy. +INFO 2026-09-24 22:46:13 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! 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b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..e26f0ecf97461ddc03956297e4f4932e5df55d0d --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/eval.log @@ -0,0 +1,11907 @@ + +[2026-09-24T23:19:24+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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_object '--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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10 --job_name=17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task02 +INFO 2026-09-24 23:19:46 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_object', + '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': '17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/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 23:19:46 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10 +INFO 2026-09-24 23:19:46 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 23:19:46 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 23:19:46 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 23:19:46 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 23:19:46 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_object'] | 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_object | task_id=2 | n_envs=1 +INFO 2026-09-24 23:19:47 bot_eval.py:790 Making policy. +INFO 2026-09-24 23:19:47 /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_object / 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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/videos/libero_object_2/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/videos/libero_object_2/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1cdfc577f924de189dedbcfc0546452178dcea3a Binary files /dev/null and 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0000000000000000000000000000000000000000..741744f3a28bd39cb43f8b29c15815cceab588b2 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/videos/libero_object_2/eval_episode_8.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb903cb4cc2f5eb428ed53be5f0cbd64013111648345f04e2ddf8ae03140ab2f +size 137554 diff --git a/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/videos/libero_object_2/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/videos/libero_object_2/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5547b7c29f5b11f6646e81a8167a912d3a2bae42 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task02_a10/videos/libero_object_2/eval_episode_9.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7eb4f5c126a5b9b4192c5c48d653d9344fa5ecbb1a5ab410f5d7fbdb89ba840 +size 145410 diff --git a/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..42f2a3c8aa0d65a8e4713d37114320d1b14eaa7d --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10/eval.log @@ -0,0 +1,9728 @@ + +[2026-09-24T23:42:08+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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_object '--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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10 --job_name=17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task03 +INFO 2026-09-24 23:42:26 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_object', + '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': '17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/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 23:42:26 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10 +INFO 2026-09-24 23:42:26 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 23:42:26 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 23:42:26 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 23:42:26 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 23:42:26 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_object'] | 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_object | task_id=3 | n_envs=1 +INFO 2026-09-24 23:42:27 bot_eval.py:790 Making policy. +INFO 2026-09-24 23:42:27 /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_object / 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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10/videos/libero_object_3/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task03_a10/videos/libero_object_3/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..178fb05ae2f4cc98f8dd2958ed911bf29f889dc4 Binary files /dev/null and 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a/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task04_a10/eval.log b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task04_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ff0cbec75af6bf6263ad818dd13f0a3604e147d8 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task04_a10/eval.log @@ -0,0 +1,4838 @@ + +[2026-09-25T00:10:56+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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_object '--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-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task04_a10 --job_name=17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task04 +INFO 2026-09-25 00:11:48 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_object', + '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': '17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task06_085000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/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/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/checkpoints/libero_object_task06_085000/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 2026-09-25 00:11:48 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-08-53_smolvla_gk_adp_libero_object_2e-3_split2/libero_object_task06_085000/eval_task04_a10 +INFO 2026-09-25 00:11:48 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 00:11:48 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 00:11:48 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 2026-09-25 00:11:48 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 2026-09-25 00:11:48 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_object'] | 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_object | task_id=4 | n_envs=1 +INFO 2026-09-25 00:11:49 bot_eval.py:790 Making policy. +INFO 2026-09-25 00:11:49 /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