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--policy.path=/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-gk_adp-libero/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/checkpoints/libero_10_task05_080000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--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-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task07_a10 --job_name=17-07-19_smolvla_gk_adp_libero_10_2e-3_split2_libero_10_task05_080000_task07 +INFO 2026-09-24 20:38:45 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [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': '17-07-19_smolvla_gk_adp_libero_10_2e-3_split2_libero_10_task05_080000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/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/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/checkpoints/libero_10_task05_080000/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 20:38:45 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task07_a10 +INFO 2026-09-24 20:38:45 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 20:38:45 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 20:38:45 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 20:38:45 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 20:38:45 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | 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_10 | task_id=7 | n_envs=1 +INFO 2026-09-24 20:38:46 bot_eval.py:790 Making policy. +INFO 2026-09-24 20:38:46 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00 + +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 +Expert 10 +libero_10 / task 7 + +0.0% + +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-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..694e4e0338721c39305f9b3507446af1b51ae870 --- /dev/null +++ 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b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task08_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..4afa0cfb7185f07b42b149c14c364304a9cee2df --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task08_a10/eval.log @@ -0,0 +1,34733 @@ + +[2026-09-24T21:08:36+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/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/checkpoints/libero_10_task05_080000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[8]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=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-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task08_a10 --job_name=17-07-19_smolvla_gk_adp_libero_10_2e-3_split2_libero_10_task05_080000_task08 +INFO 2026-09-24 21:08:46 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_10', + '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': '17-07-19_smolvla_gk_adp_libero_10_2e-3_split2_libero_10_task05_080000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/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/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/checkpoints/libero_10_task05_080000/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 21:08:46 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task08_a10 +INFO 2026-09-24 21:08:46 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 21:08:46 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 21:08:46 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 21:08:46 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 21:08:46 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | 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_10 | task_id=8 | n_envs=1 +INFO 2026-09-24 21:08:47 bot_eval.py:790 Making policy. +INFO 2026-09-24 21:08:47 /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 +Expert 10 +libero_10 / task 8 + +0.0% + +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-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e3623f2f8d1ef57868089e22ff815c9438579dbe --- /dev/null +++ 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b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task09_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..aced747cf88ec953690c319732a14577ec195362 --- /dev/null +++ b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task09_a10/eval.log @@ -0,0 +1,28203 @@ + +[2026-09-24T21:31:23+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/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/checkpoints/libero_10_task05_080000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--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-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task09_a10 --job_name=17-07-19_smolvla_gk_adp_libero_10_2e-3_split2_libero_10_task05_080000_task09 +INFO 2026-09-24 21:32:28 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [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': '17-07-19_smolvla_gk_adp_libero_10_2e-3_split2_libero_10_task05_080000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/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/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/checkpoints/libero_10_task05_080000/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 21:32:28 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task09_a10 +INFO 2026-09-24 21:32:28 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 21:32:28 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 21:32:28 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 21:32:28 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 21:32:28 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | 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_10 | task_id=9 | n_envs=1 +INFO 2026-09-24 21:32:29 bot_eval.py:790 Making policy. +INFO 2026-09-24 21:32:29 /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 +Expert 10 +libero_10 / task 9 + +0.0% + +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-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-1000/17-07-19_smolvla_gk_adp_libero_10_2e-3_split2/libero_10_task05_080000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed5ef42218652ee1d990cdc31adb43f2025aa2d9 --- /dev/null +++ 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