diff --git a/.gitattributes b/.gitattributes index de6e18d2504c72a39c5ef758f2603cac6e83b672..d02b17b6858d1d63f556c88adb5a97b9bcc0ad00 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1227,3 +1227,254 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task03_a10/videos/libero_10_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text 10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task03_a10/videos/libero_10_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text 10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task03_a10/videos/libero_10_3/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10/videos/libero_10_5/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10/videos/libero_10_5/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10/videos/libero_10_6/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10/videos/libero_10_8/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10/videos/libero_10_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10/videos/libero_10_0/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10/videos/libero_10_1/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10/videos/libero_10_2/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10/videos/libero_10_3/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task05_a10/videos/libero_10_5/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task05_a10/videos/libero_10_5/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10/videos/libero_10_6/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10/videos/libero_10_8/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10/videos/libero_10_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10/videos/libero_10_0/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10/videos/libero_10_1/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10/videos/libero_10_2/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10/videos/libero_10_3/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task05_a10/videos/libero_10_5/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task05_a10/videos/libero_10_5/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10/videos/libero_10_6/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10/videos/libero_10_7/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10/videos/libero_10_8/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_4.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10/videos/libero_10_9/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_005000/eval_task00_a10/videos/libero_goal_0/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_1.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_5.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10/videos/libero_goal_3/eval_episode_9.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task04_a10/videos/libero_goal_4/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task04_a10/videos/libero_goal_4/eval_episode_6.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task04_a10/videos/libero_goal_4/eval_episode_7.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task04_a10/videos/libero_goal_4/eval_episode_8.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_0.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_2.mp4 filter=lfs diff=lfs merge=lfs -text +10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c426dde9726a0fc9700a98e6300ccab1a693eeea --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f213d1ec8792900f6385701c1a447a55c2fa7fc0b21d77ca8519a16b869124c +size 116423 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b05569f9cfc3b54b46314824a75f29d3858dd1f8 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_1.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c70ca6d837dbc9787f0e49362be3879698688c602b00686059283a399788c247 +size 117493 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b44a977084219e403a7fc51c45022226c757ad0 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_2.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e5df82b57a1f56e590ba04265bd3f549873010c66a135a11cd6d2e1a93a8446 +size 226620 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..642d6132917a1df3460dd5623df0f80bab0bdd36 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_3.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75e26424de25eff2648b273d64f7dc5e1eec83122af7dfe06e3f429ac0ffa6e0 +size 206665 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed498f8641aa7ed074583921084b813b32175cb4 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:337fa8f01bb27a1ad3a6e7d0ea4c24b708fe936c67cb1587e4fbe8b8a1a5d529 +size 119640 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a21a35d352a353ab06c6a0f335f0025faa4dcbd1 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_5.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6c23c59168e3c4504fec497744f25d371fb26e24ff079d8179a84fa56221441 +size 186254 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1488bac3d911004889c73b2732d58093315dbe0 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_6.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b1d22e16cc917fbb75561916bed15ca7e33e7095767199aeac383bcb5e68739 +size 275979 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d8f152897be2cb06c80a0d7fc6e07704e229c5b2 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_7.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29d758adf11bdc6d1d40ebf32ad502b43a0fc287ac6404136d03f20c6a254940 +size 211577 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c99407bcffaaac847dbe95aa9aaa59f27168cd32 --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_8.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252c60b9f588d496bfdc0afa545968dcb43ebb0f5c9c0adaad905321a5125823 +size 127119 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..156e56afcee52be17991593b669efca4a58af3ae --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task04_a10/videos/libero_10_4/eval_episode_9.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbe23a6cd306e0d0efc8312b7030419ca6d955531e1c5b2126c31ac515b3712c +size 224553 diff --git a/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10/eval.log b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..b35268d4dcf55b4789a105124c7e9850e131111c --- /dev/null +++ b/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10/eval.log @@ -0,0 +1,1604 @@ + +[2026-09-24T09:54:40+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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task08_095000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_10 '--env.task_ids=[5]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=1000 '--rename_map={"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' --output_dir=/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10 --job_name=10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task08_095000_task05 --eval.tail_task_key=libero_10_task05 +INFO 2026-09-24 09:54:46 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [5]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task05', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task08_095000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task08_095000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 09:54:46 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task05_a10 +INFO 2026-09-24 09:54:46 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 09:54:46 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 09:54:46 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 09:54:46 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 09:54:46 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=5 | n_envs=50 +INFO 2026-09-24 09:54:47 bot_eval.py:790 Making policy. +INFO 2026-09-24 09:54:47 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [6]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task06', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task08_095000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task08_095000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 09:58:41 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task06_a10 +INFO 2026-09-24 09:58:41 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 09:58:41 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 09:58:41 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 09:58:41 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 09:58:41 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=6 | n_envs=50 +INFO 2026-09-24 09:58:42 bot_eval.py:790 Making policy. +INFO 2026-09-24 09:58:42 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task07', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task08_095000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task08_095000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:02:50 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task07_a10 +INFO 2026-09-24 10:02:50 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:02:50 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 10:02:50 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 10:02:50 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 10:02:50 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=7 | n_envs=50 +INFO 2026-09-24 10:02:50 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:02:50 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task08', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task08_095000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task08_095000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:06:15 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task08_a10 +INFO 2026-09-24 10:06:15 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:06:15 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 10:06:15 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 10:06:15 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 10:06:15 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=8 | n_envs=50 +INFO 2026-09-24 10:06:16 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:06:16 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task09', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task08_095000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task08_095000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:10:35 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task08_095000/eval_task09_a10 +INFO 2026-09-24 10:10:35 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:10:35 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 10:10:35 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 10:10:35 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 10:10:35 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=9 | n_envs=50 +INFO 2026-09-24 10:10:36 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:10:36 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [0]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task00', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 01:37:38 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task00_a10 +INFO 2026-09-24 01:37:38 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 01:37:38 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 01:37:38 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 01:37:38 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 01:37:38 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=0 | n_envs=50 +INFO 2026-09-24 01:37:39 bot_eval.py:790 Making policy. +INFO 2026-09-24 01:37:39 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [1]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task01', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 01:44:41 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task01_a10 +INFO 2026-09-24 01:44:41 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 01:44:41 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 01:44:41 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 01:44:41 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 01:44:42 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=1 | n_envs=50 +INFO 2026-09-24 01:44:42 bot_eval.py:790 Making policy. +INFO 2026-09-24 01:44:42 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [2]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task02', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 01:51:42 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task02_a10 +INFO 2026-09-24 01:51:42 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 01:51:42 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 01:51:42 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 01:51:42 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 01:51:42 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=2 | n_envs=50 +INFO 2026-09-24 01:51:42 bot_eval.py:790 Making policy. +INFO 2026-09-24 01:51:42 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [3]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task03', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 01:58:28 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task03_a10 +INFO 2026-09-24 01:58:28 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 01:58:28 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 01:58:28 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 01:58:28 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 01:58:28 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=3 | n_envs=50 +INFO 2026-09-24 01:58:29 bot_eval.py:790 Making policy. +INFO 2026-09-24 01:58:29 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [4]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task04', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:05:16 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task04_a10 +INFO 2026-09-24 02:05:16 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:05:16 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 02:05:16 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 02:05:16 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 02:05:17 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=4 | n_envs=50 +INFO 2026-09-24 02:05:17 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:05:17 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [5]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task05', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:11:59 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task05_a10 +INFO 2026-09-24 02:11:59 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:11:59 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 02:11:59 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 02:11:59 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 02:11:59 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=5 | n_envs=50 +INFO 2026-09-24 02:11:59 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:11:59 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [6]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task06', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:18:20 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task06_a10 +INFO 2026-09-24 02:18:20 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:18:20 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 02:18:20 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 02:18:20 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 02:18:20 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=6 | n_envs=50 +INFO 2026-09-24 02:18:20 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:18:20 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task07', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:25:21 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task07_a10 +INFO 2026-09-24 02:25:21 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:25:21 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 02:25:21 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 02:25:21 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 02:25:21 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=7 | n_envs=50 +INFO 2026-09-24 02:25:21 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:25:21 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task08', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:31:59 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task08_a10 +INFO 2026-09-24 02:31:59 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:31:59 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 02:31:59 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 02:31:59 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 02:31:59 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=8 | n_envs=50 +INFO 2026-09-24 02:32:00 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:32:00 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task09', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_050000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_050000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:39:25 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_050000/eval_task09_a10 +INFO 2026-09-24 02:39:25 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:39:25 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 02:39:25 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 02:39:25 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 02:39:26 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=9 | n_envs=50 +INFO 2026-09-24 02:39:26 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:39:26 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [0]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task00', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:14:30 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task00_a10 +INFO 2026-09-24 10:14:30 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:14:30 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 10:14:30 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 10:14:30 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 10:14:30 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=0 | n_envs=50 +INFO 2026-09-24 10:14:30 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:14:30 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [1]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task01', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:18:45 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task01_a10 +INFO 2026-09-24 10:18:45 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:18:45 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 10:18:45 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 10:18:45 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 10:18:45 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=1 | n_envs=50 +INFO 2026-09-24 10:18:46 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:18:46 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [2]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task02', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:21:59 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task02_a10 +INFO 2026-09-24 10:21:59 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:21:59 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 10:21:59 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 10:21:59 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 10:21:59 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=2 | n_envs=50 +INFO 2026-09-24 10:22:00 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:22:00 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [3]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task03', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:26:21 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task03_a10 +INFO 2026-09-24 10:26:21 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:26:21 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 10:26:21 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 10:26:21 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 10:26:21 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=3 | n_envs=50 +INFO 2026-09-24 10:26:22 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:26:22 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [4]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task04', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:30:17 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task04_a10 +INFO 2026-09-24 10:30:17 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:30:17 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 10:30:17 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 10:30:17 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 10:30:17 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=4 | n_envs=50 +INFO 2026-09-24 10:30:17 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:30:17 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [5]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task05', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:33:54 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task05_a10 +INFO 2026-09-24 10:33:54 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:33:54 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 10:33:54 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 10:33:54 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 10:33:54 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=5 | n_envs=50 +INFO 2026-09-24 10:33:55 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:33:55 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [6]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task06', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:37:50 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task06_a10 +INFO 2026-09-24 10:37:50 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:37:50 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 10:37:50 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 10:37:50 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 10:37:50 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | 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_10 | task_id=6 | n_envs=50 +INFO 2026-09-24 10:37:51 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:37:51 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task07', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/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-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:42:00 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task07_a10 +INFO 2026-09-24 10:42:00 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:42:00 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 10:42:00 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 10:42:00 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 10:42:00 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=7 | n_envs=50 +INFO 2026-09-24 10:42:00 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:42:00 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task08', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:45:53 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task08_a10 +INFO 2026-09-24 10:45:53 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:45:53 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 10:45:53 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 10:45:53 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 10:45:53 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=8 | n_envs=50 +INFO 2026-09-24 10:45:53 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:45:53 /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}, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10', + 'task_ids': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_10_task09', + 'use_async_envs': True}, + 'job_name': '10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2_libero_10_task09_100000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/checkpoints/libero_10_task09_100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 10:49:31 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-07_smolvla_instruction_tail_libero_10_2e-3_split2/libero_10_task09_100000/eval_task09_a10 +INFO 2026-09-24 10:49:31 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 10:49:31 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 10:49:31 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 10:49:31 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 10:49:31 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_10'] | n_envs(per task)=50 | init_states=True +Restricting to task_ids=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=9 | n_envs=50 +INFO 2026-09-24 10:49:32 bot_eval.py:790 Making policy. +INFO 2026-09-24 10:49:32 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task00', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_005000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_005000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_005000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-23 20:42:09 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_005000/eval_task00_a10 +INFO 2026-09-23 20:42:09 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-23 20:42:09 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-23 20:42:09 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 2026-09-23 20:42:09 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 2026-09-23 20:42:09 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-23 20:42:10 bot_eval.py:790 Making policy. +INFO 2026-09-23 20:42:10 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task00', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:47:17 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task00_a10 +INFO 2026-09-24 02:47:17 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:47:17 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 02:47:17 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 02:47:17 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 02:47:17 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 02:47:18 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:47:18 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task01', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 02:53:53 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task01_a10 +INFO 2026-09-24 02:53:53 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 02:53:53 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 02:53:53 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 02:53:53 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 02:53:53 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 02:53:54 bot_eval.py:790 Making policy. +INFO 2026-09-24 02:53:54 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task02', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 03:00:07 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task02_a10 +INFO 2026-09-24 03:00:07 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 03:00:07 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 03:00:07 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 03:00:07 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 03:00:07 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 03:00:08 bot_eval.py:790 Making policy. +INFO 2026-09-24 03:00:08 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task03', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 03:06:21 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task03_a10 +INFO 2026-09-24 03:06:21 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 03:06:21 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 03:06:21 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 03:06:21 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 03:06:21 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 03:06:22 bot_eval.py:790 Making policy. +INFO 2026-09-24 03:06:22 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task04', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 03:13:59 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task04_a10 +INFO 2026-09-24 03:13:59 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 03:13:59 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 03:13:59 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 03:13:59 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 03:13:59 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 03:14:00 bot_eval.py:790 Making policy. +INFO 2026-09-24 03:14:00 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task05', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 03:19:25 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task05_a10 +INFO 2026-09-24 03:19:25 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 03:19:25 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 03:19:25 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 03:19:25 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 03:19:25 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 03:19:26 bot_eval.py:790 Making policy. +INFO 2026-09-24 03:19:26 /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}, + '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': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task06', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 1000, + 'trust_remote_code': False} +INFO 2026-09-24 03:26:48 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-1000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10 +INFO 2026-09-24 03:26:48 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-24 03:26:48 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-24 03:26:48 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-24 03:26:48 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-24 03:26:48 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +Creating LIBERO envs | suites=['libero_goal'] | n_envs(per task)=50 | 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=50 +INFO 2026-09-24 03:26:48 bot_eval.py:790 Making policy. +INFO 2026-09-24 03:26:48 /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