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+
+[2026-09-24T14:59:27+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_task04_075000/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_task04_075000/eval_task01_a10 --job_name=17-08-53_smolvla_gk_adp_libero_object_2e-3_split2_libero_object_task04_075000_task01
+INFO 2026-09-24 14:59:50 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_task04_075000_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_task04_075000/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_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 14:59:50 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_task04_075000/eval_task01_a10
+INFO 2026-09-24 14:59:50 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 14:59:50 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 14:59:50 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 14:59:50 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 14:59:50 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 14:59:50 bot_eval.py:790 Making policy.
+INFO 2026-09-24 14:59:50 /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