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b/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c47ccd9bad9057c9d7d21071f89e04b67b0ccb8 Binary files /dev/null and b/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_8.mp4 differ diff --git a/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 b/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..661d2323ceea8056ca5e1877ca94e4f7aafa9ba3 --- /dev/null +++ b/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task06_a10/videos/libero_goal_6/eval_episode_9.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b795f1fd510f5fa9223c37888e3d699b80cba2f616bc476f33499fcaf485245e +size 144367 diff --git a/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task07_a10/eval.log b/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task07_a10/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..2c5ee0937356df68b0be35562223071eb407f2d8 --- /dev/null +++ b/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task07_a10/eval.log @@ -0,0 +1,1164 @@ + +[2026-09-25T10:11:54+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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task00_055000/pretrained_model --policy.device=cuda --policy.n_action_steps=10 --env.type=libero --env.task=libero_goal '--env.task_ids=[7]' --env.max_parallel_tasks=1 --eval.n_episodes=50 --eval.batch_size=50 --eval.use_async_envs=true --seed=3000 '--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-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task07_a10 --job_name=10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task07 --eval.tail_task_key=libero_goal_task07 +INFO 2026-09-25 10:12:08 bot_eval.py:771 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_goal', + 'task_ids': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task07', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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/10-26-08_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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 10:12:08 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task07_a10 +INFO 2026-09-25 10:12:08 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 10:12:08 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 10:12:08 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 10:12:08 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 10:12:08 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=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=7 | n_envs=50 +INFO 2026-09-25 10:12:09 bot_eval.py:790 Making policy. +INFO 2026-09-25 10:12:09 /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': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task08', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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/10-26-08_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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 10:19:34 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task08_a10 +INFO 2026-09-25 10:19:34 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 10:19:34 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 10:19:34 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 10:19:34 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 10:19:34 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=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=8 | n_envs=50 +INFO 2026-09-25 10:19:35 bot_eval.py:790 Making policy. +INFO 2026-09-25 10:19:35 /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': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task09', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task00_055000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/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/10-26-08_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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 10:29:51 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task00_055000/eval_task09_a10 +INFO 2026-09-25 10:29:51 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 10:29:51 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 10:29:51 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 10:29:51 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 10:29:51 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=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=9 | n_envs=50 +INFO 2026-09-25 10:29:51 bot_eval.py:790 Making policy. +INFO 2026-09-25 10:29:51 /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_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_task01_010000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_010000/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_task01_010000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 01:58:43 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_010000/eval_task00_a10 +INFO 2026-09-25 01:58:43 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 01:58:43 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 01:58:43 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 01:58:43 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 01:58:44 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 2026-09-25 01:58:44 bot_eval.py:790 Making policy. +INFO 2026-09-25 01:58:44 /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_task01_010000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_010000/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_task01_010000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:06:10 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_010000/eval_task01_a10 +INFO 2026-09-25 02:06:10 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:06:10 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:06:10 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:06:10 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:06:10 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 2026-09-25 02:06:11 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:06:11 /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_task01_060000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 10:37:04 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task00_a10 +INFO 2026-09-25 10:37:04 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 10:37:04 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 10:37:04 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 10:37:04 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 10:37:04 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 2026-09-25 10:37:05 bot_eval.py:790 Making policy. +INFO 2026-09-25 10:37:05 /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_task01_060000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 10:47:26 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task01_a10 +INFO 2026-09-25 10:47:26 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 10:47:26 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 10:47:26 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 10:47:26 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 10:47:26 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 2026-09-25 10:47:27 bot_eval.py:790 Making policy. +INFO 2026-09-25 10:47:27 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + '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_task01_060000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 10:54:55 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task02_a10 +INFO 2026-09-25 10:54:55 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 10:54:55 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 10:54:55 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 10:54:55 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 10:54:55 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 2026-09-25 10:54:56 bot_eval.py:790 Making policy. +INFO 2026-09-25 10:54:56 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + '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_task01_060000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:04:34 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task03_a10 +INFO 2026-09-25 11:04:34 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:04:34 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:04:34 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 11:04:34 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 11:04:34 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 2026-09-25 11:04:35 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:04:35 /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_task01_060000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:12:02 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task04_a10 +INFO 2026-09-25 11:12:02 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:12:02 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:12:02 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 11:12:02 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 11:12:02 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 2026-09-25 11:12:03 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:12:03 /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_task01_060000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:21:47 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task05_a10 +INFO 2026-09-25 11:21:47 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:21:47 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:21:47 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 11:21:47 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 11:21:48 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=[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 2026-09-25 11:21:48 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:21:48 /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}, + '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_task01_060000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:28:53 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task06_a10 +INFO 2026-09-25 11:28:53 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:28:53 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:28:53 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 2026-09-25 11:28:53 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 2026-09-25 11:28:53 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=[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 2026-09-25 11:28:54 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:28:54 /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': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task07', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task01_060000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:38:46 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task07_a10 +INFO 2026-09-25 11:38:46 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:38:46 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:38:46 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 2026-09-25 11:38:46 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 2026-09-25 11:38:46 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=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=7 | n_envs=50 +INFO 2026-09-25 11:38:47 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:38:47 /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_goal', + 'task_ids': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task08', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task01_060000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:45:48 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task08_a10 +INFO 2026-09-25 11:45:48 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:45:48 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:45:48 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 11:45:48 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 11:45:48 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=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=8 | n_envs=50 +INFO 2026-09-25 11:45:49 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:45:49 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + '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': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task09', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task01_060000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task01_060000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 11:56:25 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task01_060000/eval_task09_a10 +INFO 2026-09-25 11:56:25 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 11:56:25 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 11:56:25 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 2026-09-25 11:56:25 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 2026-09-25 11:56:25 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=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=9 | n_envs=50 +INFO 2026-09-25 11:56:26 bot_eval.py:790 Making policy. +INFO 2026-09-25 11:56:26 /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': [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_task02_015000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_015000/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_task02_015000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:15:19 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_015000/eval_task00_a10 +INFO 2026-09-25 02:15:19 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:15:19 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:15:19 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:15:19 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:15:19 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 2026-09-25 02:15:20 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:15:20 /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_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_task02_015000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_015000/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_task02_015000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:22:43 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_015000/eval_task01_a10 +INFO 2026-09-25 02:22:43 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:22:43 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:22:43 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:22:43 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:22:44 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 2026-09-25 02:22:44 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:22:44 /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_task02_015000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_015000/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_task02_015000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:29:48 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_015000/eval_task02_a10 +INFO 2026-09-25 02:29:48 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:29:48 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:29:48 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:29:48 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:29:48 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=[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 2026-09-25 02:29:49 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:29:49 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + '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_task02_065000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:03:25 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task00_a10 +INFO 2026-09-25 12:03:25 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:03:25 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:03:25 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 2026-09-25 12:03:25 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 2026-09-25 12:03:25 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=[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 2026-09-25 12:03:26 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:03:26 /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': [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_task02_065000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:12:41 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task01_a10 +INFO 2026-09-25 12:12:41 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:12:41 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:12:41 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 2026-09-25 12:12:41 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 2026-09-25 12:12:42 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 2026-09-25 12:12:42 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:12:42 /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_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_task02_065000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:20:25 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task02_a10 +INFO 2026-09-25 12:20:25 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:20:25 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:20:25 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 2026-09-25 12:20:25 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 2026-09-25 12:20:25 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=[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 2026-09-25 12:20:26 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:20:26 /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': [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_task02_065000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:26:16 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task03_a10 +INFO 2026-09-25 12:26:16 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:26:16 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:26:16 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 2026-09-25 12:26:16 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 2026-09-25 12:26:16 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 2026-09-25 12:26:17 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:26:17 /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_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_task02_065000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:31:03 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task04_a10 +INFO 2026-09-25 12:31:03 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:31:03 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:31:03 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 12:31:03 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 12:31:03 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 2026-09-25 12:31:04 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:31:04 /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_task02_065000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:36:27 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task05_a10 +INFO 2026-09-25 12:36:27 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:36:27 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:36:27 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 12:36:27 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 12:36:27 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 2026-09-25 12:36:28 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:36:28 /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_task02_065000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:41:04 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task06_a10 +INFO 2026-09-25 12:41:04 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:41:04 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:41:04 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 12:41:04 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 12:41:04 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 2026-09-25 12:41:05 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:41:05 /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': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task07', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task02_065000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:47:48 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task07_a10 +INFO 2026-09-25 12:47:48 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:47:48 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:47:48 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 12:47:48 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 12:47:48 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=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=7 | n_envs=50 +INFO 2026-09-25 12:47:49 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:47:49 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + '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': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task08', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task02_065000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 12:55:02 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task08_a10 +INFO 2026-09-25 12:55:02 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 12:55:02 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 12:55:02 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 12:55:02 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 12:55:02 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=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=8 | n_envs=50 +INFO 2026-09-25 12:55:03 bot_eval.py:790 Making policy. +INFO 2026-09-25 12:55:03 /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': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task09', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task02_065000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task02_065000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:05:31 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task02_065000/eval_task09_a10 +INFO 2026-09-25 13:05:31 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:05:31 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:05:31 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 2026-09-25 13:05:31 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 2026-09-25 13:05:31 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=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=9 | n_envs=50 +INFO 2026-09-25 13:05:32 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:05:32 /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_task03_020000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/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_task03_020000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:37:18 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/eval_task00_a10 +INFO 2026-09-25 02:37:18 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:37:18 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:37:18 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:37:18 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:37:18 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 2026-09-25 02:37:18 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:37:18 /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_task03_020000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/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_task03_020000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:43:59 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/eval_task01_a10 +INFO 2026-09-25 02:43:59 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:43:59 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:43:59 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 2026-09-25 02:43:59 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 2026-09-25 02:43:59 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=[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 2026-09-25 02:44:00 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:44:00 /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': [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_task03_020000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/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_task03_020000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:53:18 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/eval_task02_a10 +INFO 2026-09-25 02:53:18 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:53:18 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:53:18 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:53:18 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:53:18 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 2026-09-25 02:53:19 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:53:19 /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_task03_020000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/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_task03_020000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 02:58:26 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_020000/eval_task03_a10 +INFO 2026-09-25 02:58:26 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 02:58:26 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 02:58:26 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 02:58:26 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 02:58:26 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 2026-09-25 02:58:27 bot_eval.py:790 Making policy. +INFO 2026-09-25 02:58:27 /factory.py:394 Loading policy's PEFT adapter. +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... +`torch_dtype` is deprecated! Use `dtype` instead! + Loading weights: 0%| | 0/489 [00:00}, + '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_task03_070000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:12:09 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task00_a10 +INFO 2026-09-25 13:12:09 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:12:09 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:12:09 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 2026-09-25 13:12:09 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 2026-09-25 13:12:09 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 2026-09-25 13:12:10 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:12:10 /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': [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_task03_070000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:23:08 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task01_a10 +INFO 2026-09-25 13:23:08 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:23:08 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:23:08 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:23:08 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:23:08 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 2026-09-25 13:23:08 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:23:08 /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': [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_task03_070000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:29:28 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task02_a10 +INFO 2026-09-25 13:29:28 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:29:28 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:29:28 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 2026-09-25 13:29:28 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 2026-09-25 13:29:28 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 2026-09-25 13:29:29 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:29:29 /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_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_task03_070000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:38:59 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task03_a10 +INFO 2026-09-25 13:38:59 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:38:59 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:38:59 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 2026-09-25 13:38:59 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 2026-09-25 13:38:59 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=[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 2026-09-25 13:39:00 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:39:00 /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': [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_task03_070000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:45:45 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task04_a10 +INFO 2026-09-25 13:45:45 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:45:45 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:45:45 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 2026-09-25 13:45:45 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 2026-09-25 13:45:45 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 2026-09-25 13:45:46 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:45:46 /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_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_task03_070000_task05', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 13:56:11 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task05_a10 +INFO 2026-09-25 13:56:11 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 13:56:11 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 13:56:11 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 13:56:11 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 13:56:11 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 2026-09-25 13:56:12 bot_eval.py:790 Making policy. +INFO 2026-09-25 13:56:12 /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_task03_070000_task06', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:02:28 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task06_a10 +INFO 2026-09-25 14:02:28 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:02:28 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:02:28 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 2026-09-25 14:02:28 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 2026-09-25 14:02:28 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 2026-09-25 14:02:29 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:02:29 /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_goal', + 'task_ids': [7]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task07', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task03_070000_task07', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:11:05 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task07_a10 +INFO 2026-09-25 14:11:05 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:11:05 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:11:05 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:11:05 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:11:05 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=[7] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=7 | n_envs=50 +INFO 2026-09-25 14:11:06 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:11:06 /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': [8]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task08', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task03_070000_task08', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:21:30 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task08_a10 +INFO 2026-09-25 14:21:30 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:21:30 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:21:30 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 2026-09-25 14:21:30 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 2026-09-25 14:21:30 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=[8] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=8 | n_envs=50 +INFO 2026-09-25 14:21:31 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:21:31 /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': [9]}, + 'eval': {'batch_size': 50, + 'n_episodes': 50, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'tail_task_key': 'libero_goal_task09', + 'use_async_envs': True}, + 'job_name': '10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2_libero_goal_task03_070000_task09', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/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/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task03_070000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:28:37 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task03_070000/eval_task09_a10 +INFO 2026-09-25 14:28:37 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:28:37 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:28:37 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:28:37 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:28:37 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=[9] +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=9 | n_envs=50 +INFO 2026-09-25 14:28:38 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:28:38 /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_task04_025000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/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_task04_025000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:04:00 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/eval_task00_a10 +INFO 2026-09-25 03:04:00 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:04:00 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:04:00 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 2026-09-25 03:04:00 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 2026-09-25 03:04:00 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 2026-09-25 03:04:00 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:04:00 /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': [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_task04_025000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/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_task04_025000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:09:39 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/eval_task01_a10 +INFO 2026-09-25 03:09:39 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:09:39 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:09:39 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:09:39 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:09:39 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 2026-09-25 03:09:40 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:09:40 /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_task04_025000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/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_task04_025000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:13:08 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/eval_task02_a10 +INFO 2026-09-25 03:13:08 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:13:08 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:13:08 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:13:08 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:13:08 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 2026-09-25 03:13:09 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:13:09 /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_task04_025000_task03', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/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_task04_025000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:17:43 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/eval_task03_a10 +INFO 2026-09-25 03:17:43 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:17:43 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:17:43 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:17:43 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:17:43 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 2026-09-25 03:17:44 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:17:44 /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_task04_025000_task04', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/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_task04_025000/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': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 03:23:10 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_025000/eval_task04_a10 +INFO 2026-09-25 03:23:10 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 03:23:10 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 03:23:10 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 03:23:10 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 03:23:10 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 2026-09-25 03:23:11 bot_eval.py:790 Making policy. +INFO 2026-09-25 03:23:11 /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_task04_075000_task00', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_075000/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_task04_075000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:38:00 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task00_a10 +INFO 2026-09-25 14:38:00 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:38:00 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:38:00 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 2026-09-25 14:38:00 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 2026-09-25 14:38:00 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 2026-09-25 14:38:00 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:38:00 /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': [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_task04_075000_task01', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task01_a10'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.camera1': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.camera3': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (6,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 10, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': 0, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.002, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'max_length', + 'prefix_length': 0, + 'pretrained_path': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/train/smolvla-split-instruction_tail-libero/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/checkpoints/libero_goal_task04_075000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:46:07 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task01_a10 +INFO 2026-09-25 14:46:07 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:46:07 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:46:07 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 2026-09-25 14:46:07 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 2026-09-25 14:46:08 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 2026-09-25 14:46:08 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:46:08 /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': [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_task04_075000_task02', + 'output_dir': PosixPath('/home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_075000/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_task04_075000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 0.002, + 'scheduler_decay_steps': 5000, + 'scheduler_warmup_steps': 0, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': True, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {'observation.images.image': 'observation.images.camera1', + 'observation.images.image2': 'observation.images.camera2'}, + 'seed': 3000, + 'trust_remote_code': False} +INFO 2026-09-25 14:54:13 bot_eval.py:780 Output dir: /home/tml_lab/lerobot-061-cl/outputs/eval/smolvla-split-instruction_tail-libero-3000/10-26-08_smolvla_instruction_tail_libero_goal_2e-3_split2/libero_goal_task04_075000/eval_task02_a10 +INFO 2026-09-25 14:54:13 bot_eval.py:782 Making environment (batch_size=50, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-09-25 14:54:13 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-09-25 14:54:13 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-09-25 14:54:13 e/__init__.py:9 To setup, run: python /home/tml_lab/miniforge3/envs/lerobot/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-09-25 14:54:13 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 2026-09-25 14:54:13 bot_eval.py:790 Making policy. +INFO 2026-09-25 14:54:13 /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