diff --git a/.gitattributes b/.gitattributes index 9e2745280062dae4afa06e3b1a47d157e8f20251..11d5e1811600c556a5d2d2187f9be6e3ffb1a3a4 100644 --- a/.gitattributes +++ b/.gitattributes @@ -5840,3 +5840,23 @@ smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2 smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task03_a10/videos/libero_goal_3/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task03_a10/videos/libero_goal_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task04_a10/videos/libero_goal_4/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1f2cecd3107af38759b18d6d6e1f4153c64e2f3 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..59dd1030161f539031fee88741e9ba7023e5f238 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/eval.log @@ -0,0 +1,9964 @@ + +[2026-09-24T19:33:59+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_task06_035000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task06_035000_task05 +INFO 2026-09-24 19:34:16 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_task06_035000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/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_task06_035000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 19:34:16 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10 +INFO 2026-09-24 19:34:16 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 19:34:16 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 19:34:16 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 19:34:16 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 19:34:16 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 19:34:17 bot_eval.py:790 Making policy. +INFO 2026-09-24 19:34:17 /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 +libero_goal / task 5 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..25f7ba35d9512487d55e21cbb469c2ddcb1b8bd6 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b25cc2bb7494022ea6e622aad135a02635976774 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..07dbcbd2b05dc5bd37888bf032e00152431257fb Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7d2127ba3012d7493e15ebd4366bdc9ca3bf358 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcfdb6c05aef8e360ab282584cded0c31a747ae0 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9f7628a9c14d9b2dbf8882853a6c2c23a529173204e1ec9ef216d09ea81c0f9 +size 157658 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e82e7fd3b3d76ee5ce95fc0f5ad85adcd79273c Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e60b682c1dcc0b9a76b46978b414a0af865c0fc1 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e5db1dbe16e5537b37b6e7c596be7c0ccbed307 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b498852bfef96ae286e59ffcf5df003b9d09867e Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..214dfe1d610c4245fa44af3b55f0695254c710c8 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..caab5db6f392f8eb360023c45e2b446bd8f695b5 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/eval.log @@ -0,0 +1,13517 @@ + +[2026-09-24T19:58:51+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_task06_035000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task06_035000_task06 +INFO 2026-09-24 19:59:24 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_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_task06_035000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/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_task06_035000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 19:59:24 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10 +INFO 2026-09-24 19:59:24 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 19:59:24 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 19:59:24 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 19:59:24 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 19:59:24 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 19:59:25 bot_eval.py:790 Making policy. +INFO 2026-09-24 19:59:25 /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 +libero_goal / task 6 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0d28adf76c1c41a29768944e056d9ac20d7f310 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0947dfd845a745df35719a896ad02b63f2a2502c06ab0af4a51c7521d8141eb2 +size 141720 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b584f1fe388976ad64c53168cbbdd79b54f46ad4 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:530fb0fc75d84e5b8f421c7d08234d2a9934277ae80cc52f1b890b444eb82158 +size 126095 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..743f505ff216d89bbc467639692086af5e797786 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60013ea4b43098eccfb8dab9d64117ac2a05b4bc093eb8220c178b0d348b3558 +size 142187 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..089445121a14f545159911b4da171be1ada150d2 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83908a6a6459762d4d6bb1157fe65979b33773b6 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..296ad14568880174b68db9c60285337c4d4548a2 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e82ec67146d7ec6691f6f8fd50de898dccb861117811ed408d2fa42839d9e586 +size 150846 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb40a69623eb34b62ffc2008dd2cfdf10dd83648 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3bcd92048eb26238849d1d4b6d08a2cbfef6de06d7ef2b0e3f63c5b340dc878 +size 147137 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1ab46a35496cc32ddf8aa5d730ed57deccc8b38 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19585298ea51af839e710223cad78c07e3027c78 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d28cbf92a98eba215ee13a3a997f653b790a609a Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task06_035000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..e0a5af99742c808515cb16c404c0f07bcf027d10 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/eval.log @@ -0,0 +1,11866 @@ + +[2026-09-24T20:28:48+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_task07_040000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[0]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task00 +INFO 2026-09-24 20:29:46 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_goal', + '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': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 20:29:46 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10 +INFO 2026-09-24 20:29:46 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 20:29:46 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 20:29:46 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 20:29:46 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 20:29:46 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=[0] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=0 | n_envs=1 +INFO 2026-09-24 20:29:47 bot_eval.py:790 Making policy. +INFO 2026-09-24 20:29:47 /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 +libero_goal / task 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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..00829b951fcca204f64f640f4b25b476872d9fa5 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c680291d5aa366eb84381e2749550c1d4e3daa1a Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5f37bc8080e6c02e3f84ed6fbba71d2949cb7e60 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d722d0e467e5e9184cc2d4572aad19812754ee6c Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..696d303c42f4961ce07649bfb3af09791bdd28ba Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_4.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75ddd59dfffb6f733a9207d08231bc84c655f2b1 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..733f4a643513575810d1f00b955d108d6934fb84 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd3fb63b356fded366e43f89c0569d46745d7ce8 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f59705c88a11a6e0f479a26693abd3cafe21732f Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..776e7088aafb8433eeff55c31fa0de610f7682cd Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task00_a10/videos/libero_goal_0/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..2547846a387ea79e1618430162ce23c4ba7d7c9a --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/eval.log @@ -0,0 +1,6903 @@ + +[2026-09-24T21:01:27+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/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task07_040000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[1]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task01 +INFO 2026-09-24 21:01:55 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': [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': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 21:01:55 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10 +INFO 2026-09-24 21:01:55 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 21:01:55 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 21:01:55 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 21:01:55 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 21:01:55 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=[1] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=1 | n_envs=1 +INFO 2026-09-24 21:01:56 bot_eval.py:790 Making policy. +INFO 2026-09-24 21:01:56 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00 + +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 +libero_goal / task 1 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..99e215b511d2791361d4447f5a9cc29bd6e0f7e3 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..93fd27bf7c597a3704f64b6aed72b6f6d07b5516 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b8fd2b6af2c5d0e74a85c90d5c25dc0efc1b2b1 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..889be5b3f6f9ce2924d0de8e1b4798e3d4e0fad0 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4210e09eeded70dea5f1031df902f83ed554c89f Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_4.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60c0adeddac6a7a1193e983ccd0bbf85dfe3d0e8 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_5.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f40803800f00513d7874c1600d26a03aad8fb27198a857844a4da1a11d6e89e +size 129334 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..12c68de1b3cd49973683c6c60a49ad57f51f9273 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f981c50e42a3237bb9faa525eb3cc813f0928a3 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a81b4b98d745846285ad0541b1cbacd50081dbde Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a85e36a19887f26d092a6d28e98bcad85b5aabab Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task01_a10/videos/libero_goal_1/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..e1ef203aa5f1b1e5a7bbbbbca87c4b033fa6215d --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/eval.log @@ -0,0 +1,8093 @@ + +[2026-09-24T21:30:21+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_task07_040000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task02 +INFO 2026-09-24 21:30:47 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': [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_task07_040000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 21:30:47 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10 +INFO 2026-09-24 21:30:47 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 21:30:47 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 21:30:47 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 21:30:47 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 21:30:47 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=[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 21:30:48 bot_eval.py:790 Making policy. +INFO 2026-09-24 21:30:48 /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 +libero_goal / task 2 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cabfc58cd25fe7749a30f94fd7426887e5f8b537 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88531bf7dc5b811396c5264798195509893d88ef Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96a7ddb8aa14ab85664680c58720567096194fbc Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dd0bb911db6142af2ab8b8907735947605609fd4 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_3.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e8f102672d2e91fa5540fb1e0878a068bcc343ab5bef661e38ed8863b243c8b +size 111016 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d984557b8b961156a760bddadf2553501deba26d Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_4.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59d06269b1d7308e069e7eb40a008351a92ec97b Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23fac00d70ea5b0e0ce5ab1350cddc82800f550a Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9be135cb6efcf8195e98964f43e698d29e811d5 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ee876197fc958fdc8e45558bfbb4d35ac5ee2eea Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a66428784e41a2b9e6861a3de39ac58cf0821126 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task02_a10/videos/libero_goal_2/eval_episode_9.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf18226fbe116a040836c192e1731aa8333747262d26e57dec577cb4933b8243 +size 102349 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..36b5124721bcff65e3e8b9c183d63ada140311ed --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/eval.log @@ -0,0 +1,14937 @@ + +[2026-09-24T21:59:13+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_task07_040000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task03 +INFO 2026-09-24 21:59:41 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_task07_040000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 21:59:41 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10 +INFO 2026-09-24 21:59:41 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 21:59:41 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 21:59:41 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 21:59:41 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 21:59:41 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 21:59:42 bot_eval.py:790 Making policy. +INFO 2026-09-24 21:59:42 /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 +libero_goal / task 3 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23158933ef2aa984d36f7b81ecb8f56974906823 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97dfa287a7f34ff700ffea1df167b0dee6d71adcf9d2411439547c1d508517b1 +size 130650 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ab674ae1131dd1565d3a8c9186a7ac0a7da914fd --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_1.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:498a0b03fe6667de7ebf4c35e5e4266526fe511f8061448b124106c03eef4021 +size 132549 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..944ff400bb271d0e2553d6d484a7322810fc4694 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ade28e9670aa98c6507d886e214d754e15957c45 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1aae443b79bd7e89109a49eedc027aeb52cd2745 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d62b2e326c02c8c3a9677d3571971131513801e358f022a6c2482d27e23d9459 +size 136878 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..22838a0ac729f6103856352c909a352e857d05c5 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0045828f3803933c80de8c612d3f4ea6200a0505 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7460aedaad935a6c1e250ed4e6ee89ce6570dda Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca4a3ab8a5fa95b531d8c95447f0277b8fb00311 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_8.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b59f5c5c6644e6860324717b0b7fadb10fbb8317249d31a52bf776e9b9756d69 +size 136631 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8cca000b74c5910f610961ce21a3ac47500e29a6 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task03_a10/videos/libero_goal_3/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..82727f7dd418c5627347e51b50d50f25e09df055 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/eval.log @@ -0,0 +1,7232 @@ + +[2026-09-24T22:26:07+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_task07_040000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task04 +INFO 2026-09-24 22:26:23 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_task07_040000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 22:26:23 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10 +INFO 2026-09-24 22:26:23 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 22:26:23 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 22:26:23 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 22:26:23 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 22:26:23 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 22:26:25 bot_eval.py:790 Making policy. +INFO 2026-09-24 22:26:25 /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 +libero_goal / task 4 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..306490e8590f262755696b7c91a16eb42a89731c Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..503c4b09cb037d3cfd0b6adb1c277807d3fa197c Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..646d757c46199a6468a0af2e22e5a0cbe4df9cce Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..736f69ac1a837e29953a4f83d7cf33d54374a5b6 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..26e79ef6ddb0726520552f77b64a57a94dbe0336 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e7d514588ef6c00f412cb20702273cd0c7732741fe9a01f4481c4a3ab5f5c0b +size 123857 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6666318afd6c1d3566d0bf098c46891fbf32db6f Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..09becc699121fea40f6b37d50bbd30b07167216d Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c0a4304df070a0b91dde28dfcebacf988eb929a Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b66a74a39f632a20887313eba4c704d95b389977 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1f2cecd3107af38759b18d6d6e1f4153c64e2f3 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task04_a10/videos/libero_goal_4/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..8f319a6cc8cba4b464c59942275d5b2806a5d29f --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/eval.log @@ -0,0 +1,9944 @@ + +[2026-09-24T22:50:35+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_task07_040000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task05 +INFO 2026-09-24 22:51:20 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_task07_040000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 22:51:20 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10 +INFO 2026-09-24 22:51:20 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 22:51:20 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 22:51:20 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 22:51:20 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 22:51:20 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 22:51:20 bot_eval.py:790 Making policy. +INFO 2026-09-24 22:51:20 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00 + +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 +libero_goal / task 5 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d280f6d3ea78d61c7e284953e52664ccd24053cb Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b25cc2bb7494022ea6e622aad135a02635976774 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..07dbcbd2b05dc5bd37888bf032e00152431257fb Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7d2127ba3012d7493e15ebd4366bdc9ca3bf358 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcfdb6c05aef8e360ab282584cded0c31a747ae0 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9f7628a9c14d9b2dbf8882853a6c2c23a529173204e1ec9ef216d09ea81c0f9 +size 157658 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e82e7fd3b3d76ee5ce95fc0f5ad85adcd79273c Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e60b682c1dcc0b9a76b46978b414a0af865c0fc1 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e5db1dbe16e5537b37b6e7c596be7c0ccbed307 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b498852bfef96ae286e59ffcf5df003b9d09867e Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..214dfe1d610c4245fa44af3b55f0695254c710c8 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task05_a10/videos/libero_goal_5/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..0699c580dfb4f94934c9ac99f62d864d01f9d1c5 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/eval.log @@ -0,0 +1,13334 @@ + +[2026-09-24T23:17:04+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_task07_040000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task06 +INFO 2026-09-24 23:17:38 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': [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_task07_040000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 23:17:38 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10 +INFO 2026-09-24 23:17:38 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 23:17:38 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 23:17:38 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 23:17:38 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 23:17:38 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=[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 23:17:39 bot_eval.py:790 Making policy. +INFO 2026-09-24 23:17:39 /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 +libero_goal / task 6 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0d28adf76c1c41a29768944e056d9ac20d7f310 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0947dfd845a745df35719a896ad02b63f2a2502c06ab0af4a51c7521d8141eb2 +size 141720 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b584f1fe388976ad64c53168cbbdd79b54f46ad4 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_1.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:530fb0fc75d84e5b8f421c7d08234d2a9934277ae80cc52f1b890b444eb82158 +size 126095 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..743f505ff216d89bbc467639692086af5e797786 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60013ea4b43098eccfb8dab9d64117ac2a05b4bc093eb8220c178b0d348b3558 +size 142187 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..089445121a14f545159911b4da171be1ada150d2 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83908a6a6459762d4d6bb1157fe65979b33773b6 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_4.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..296ad14568880174b68db9c60285337c4d4548a2 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_5.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e82ec67146d7ec6691f6f8fd50de898dccb861117811ed408d2fa42839d9e586 +size 150846 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb40a69623eb34b62ffc2008dd2cfdf10dd83648 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_6.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3bcd92048eb26238849d1d4b6d08a2cbfef6de06d7ef2b0e3f63c5b340dc878 +size 147137 diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1ab46a35496cc32ddf8aa5d730ed57deccc8b38 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19585298ea51af839e710223cad78c07e3027c78 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d28cbf92a98eba215ee13a3a997f653b790a609a Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..7e2b2708b9bd3245035c9ee8e6c54c60a36c4339 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/eval.log @@ -0,0 +1,8757 @@ + +[2026-09-24T23:45:10+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_task07_040000/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=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task07_040000_task07 +INFO 2026-09-24 23:45:37 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': [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_task07_040000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/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_task07_040000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-24 23:45:37 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10 +INFO 2026-09-24 23:45:37 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 23:45:37 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 23:45:37 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 23:45:37 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 23:45:37 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=[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 23:45:39 bot_eval.py:790 Making policy. +INFO 2026-09-24 23:45:39 /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 +libero_goal / task 7 + +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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_0.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b550c145ad2b6f1d1d0bc575caf951f67ab23512 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_0.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_1.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c03eeaddf6552701d88c004c9cef91805bea1ad Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_1.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_2.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7eda2f24c078be196116c1b665e47cebe94554b2 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_2.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_3.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bca59b96bc6135b0d9129b820ac6d793feabece4 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_3.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_4.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1f9b920fdf2c1d655c318e75db343f114dd16792 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_4.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_5.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad68e5bb16c571d8ce2b590edba04456ff1c74b8 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_5.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_6.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9364a954a9dd188bb795a3ce764a77b9e3b180e8 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_6.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_7.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a827d58dafef2e62a5de6129cc0d1b3c72a36c8 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_7.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_8.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cbc0e6c20b98271e6a8f4d2171b21cd14f86b737 Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_8.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_9.mp4 b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cbf9481cfaa348c138ab83d644c7aa0452001dcd Binary files /dev/null and b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task07_040000/eval_task07_a10/videos/libero_goal_7/eval_episode_9.mp4 differ diff --git a/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task08_045000/eval_task00_a10/eval.log b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task08_045000/eval_task00_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..0834d946b95f3e620aedb741704a01cebb074b89 --- /dev/null +++ b/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task08_045000/eval_task00_a10/eval.log @@ -0,0 +1,2223 @@ + +[2026-09-25T00:18:15+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_task08_045000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[0]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=1 --eval.use_async_envs=true --seed=2000 '--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-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task08_045000/eval_task00_a10 --job_name=17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task08_045000_task00 +INFO 2026-09-25 00:18:51 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': [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': '17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2_libero_goal_task08_045000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task08_045000/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/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/checkpoints/libero_goal_task08_045000/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': 2000, + 'trust_remote_code': False} +INFO 2026-09-25 00:18:51 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-gk_adp-libero-2000/17-08-45_smolvla_gk_adp_libero_goal_2e-3_split2/libero_goal_task08_045000/eval_task00_a10 +INFO 2026-09-25 00:18:51 bot_eval.py:782 Making environment (batch_size=1, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 00:18:51 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 00:18:51 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 2026-09-25 00:18:51 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 2026-09-25 00:18:52 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=[0] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=0 | n_envs=1 +INFO 2026-09-25 00:18:52 bot_eval.py:790 Making policy. +INFO 2026-09-25 00:18:52 /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