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config.json

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+{
+  "action_dim": 7,
+  "action_model_type": "DiT-B",
+  "data_root_dir": "s3://real_data_raw/open_x_embodiment_origin",
+  "debug": false,
+  "disable_instruction": false,
+  "fix_system1": true,
+  "future_action_window_size": 15,
+  "hf_token": "hf_token",
+  "image_aug": true,
+  "is_resume": false,
+  "load_all_data_for_training": true,
+  "num_of_meta_query": 64,
+  "past_action_window_size": 0,
+  "pretrained_checkpoint": "/mnt/petrelfs/yangshuai1/rep/cogact_with_history/outputs/code_reimp/sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_reimplement_history=1_state--image_augstage1/checkpoints/action_model_55500_unload.pt",
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+  "resume_step": null,
+  "run_id": "sys12_meta_query_full_finetune_sync_cotraining_v2_xlora_freeze_head_instruction_long_state-from_55500_lr5e5_bs16_transformer_4_50--image_augstage2",
+  "run_id_note": null,
+  "run_root_dir": "outputs/code_reimp",
+  "save_interval": 1500,
+  "seed": 42,
+  "stage": "stage2",
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "use_ema": false,
+  "use_mm": true,
+  "vla": {
+    "action_tokenizer": "extra_action_tokenizer",
+    "base_vlm": "/mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B",
+    "data_mix": "bridge_rt_1",
+    "enable_gradient_checkpointing": false,
+    "enable_mixed_precision_training": true,
+    "epochs": 100,
+    "expected_world_size": 64,
+    "freeze_llm_backbone": false,
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+    "global_batch_size": 1024,
+    "learning_rate": 5e-05,
+    "lr_scheduler_type": "constant",
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+    "reduce_in_full_precision": true,
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+    "train_strategy": "fsdp-full-shard",
+    "type": "prism-qwen25-dinosiglip-224px+0_5b",
+    "unfreeze_last_llm_layer": false,
+    "vla_id": "prism-qwen25-dinosiglip-224px+0_5b",
+    "warmup_ratio": 0.0,
+    "weight_decay": 0.0
+  },
+  "wandb_entity": "shuaiyang2003",
+  "wandb_project": "dual_sys_code_clean"
+}

config.yaml

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+action_dim: 7
+action_model_type: DiT-B
+data_root_dir: s3://real_data_raw/open_x_embodiment_origin
+debug: false
+disable_instruction: false
+fix_system1: true
+future_action_window_size: 15
+hf_token: hf_token
+image_aug: true
+is_resume: false
+load_all_data_for_training: true
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+past_action_window_size: 0
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+seed: 42
+stage: stage2
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+- wandb
+use_ema: false
+use_mm: true
+vla:
+  action_tokenizer: extra_action_tokenizer
+  base_vlm: /mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B
+  data_mix: bridge_rt_1
+  enable_gradient_checkpointing: false
+  enable_mixed_precision_training: true
+  epochs: 100
+  expected_world_size: 64
+  freeze_llm_backbone: false
+  freeze_vision_backbone: false
+  global_batch_size: 1024
+  learning_rate: 5.0e-05
+  lr_scheduler_type: constant
+  max_grad_norm: 1.0
+  max_steps: null
+  per_device_batch_size: 16
+  reduce_in_full_precision: true
+  shuffle_buffer_size: 250000
+  train_strategy: fsdp-full-shard
+  type: prism-qwen25-dinosiglip-224px+0_5b
+  unfreeze_last_llm_layer: false
+  vla_id: prism-qwen25-dinosiglip-224px+0_5b
+  warmup_ratio: 0.0
+  weight_decay: 0.0
+wandb_entity: shuaiyang2003
+wandb_project: dual_sys_code_clean

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results_step-006000-epoch-01-loss=0.1724_instruct_cot_1/log/final_results_instruct.log

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+Free,FreeGraspSingleSpriteCanInScene-v2,0.6400
+Free,FreeOpenBottomDrawerCustomInScene-v0,0.3333
+Free,FreeOpenBottomDrawerCustomInScene-v1,0.2222
+Free,FreeOpenMiddleDrawerCustomInScene-v0,0.1111
+Free,FreeOpenMiddleDrawerCustomInScene-v1,0.1111
+Free,FreeOpenTopDrawerCustomInScene-v0,0.5556
+Free,FreeOpenTopDrawerCustomInScene-v1,0.5556
+Free,FreePlaceBottleNearOrangeEnv-v0,0.7500
+Free,FreePlaceIntoTopDrawerEnv-v0,0.1111
+Free,FreePlaceIntoTopDrawerEnv-v1,0.6667
+Free,FreePlaceIntoTopDrawerEnv-v2,0.4444
+Free,FreePlaceLNearAEnv-v0,0.1667
+Free,FreePlaceLNearVEnv-v0,0.1667
+Free,FreePlaceLemonNearPearEnv-v0,0.5833
+Free,FreePlaceLemonNearPearEnv-v1,0.3333
+Free,FreePlaceLemonNearPearEnv-v2,0.4167
+Free,FreePlaceMugNearPlaystationEnv-v0,0.2500
+Free,FreePlaceMugNearPlaystationEnv-v0,0.1667
+Free,FreePlaceMugNearPlaystationEnv-v1,0.0833
+Free,FreePlaceMugNearPlaystationEnv-v1,0.0000
+Alt,AltCloseDrawerInLongStep1HorizonInSceneEnv-v0,0.4444
+Alt,AltCloseDrawerInLongStep1HorizonInSceneEnv-v0,0.4444
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,1.0000
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.7778
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.8889
+Alt,AltCloseMiddleDrawerInLongStep2HorizonInSceneEnv-v0,0.0000
+Alt,AltCloseMiddleDrawerInLongStep2HorizonInSceneEnv-v0,0.1111
+Alt,AltGraspEggplantDistractorInSceneEnv-v0,0.5625
+Alt,AltGraspEggplantDistractorInSceneEnv-v0,0.4375
+Alt,AltGraspMugDistractorInSceneEnv-v0,0.0625
+Alt,AltGraspMugDistractorInSceneEnv-v0,0.0000
+Alt,AltGraspMugDistractorInSceneEnv-v1,0.1875
+Alt,AltGraspMugDistractorInSceneEnv-v1,0.0000
+Alt,AltGraspOrange2DistractorInSceneEnv-v0,0.5000
+Alt,AltGraspOrange2DistractorInSceneEnv-v0,0.8125
+Alt,AltGraspOrangeDistractorInSceneEnv-v0,0.6875
+Alt,AltGraspOrangeDistractorInSceneEnv-v0,0.3750
+Alt,AltGraspSpongeDistractorInSceneEnv-v0,0.8750
+Alt,AltGraspSpongeDistractorInSceneEnv-v0,0.5625
+Alt,AltOpenBottomDrawerCustomInSceneEnv-v0,0.4444
+Alt,AltOpenBottomDrawerCustomInSceneEnv2-v0,0.4444
+Alt,AltOpenMiddleDrawerCustomInSceneEnv-v0,0.0000
+Alt,AltOpenMiddleDrawerCustomInSceneEnv2-v0,0.0000
+Alt,AltOpenTopDrawerCustomInSceneEnv-v0,0.7778
+Alt,AltOpenTopDrawerCustomInSceneEnv2-v0,0.4444
+Alt,AltPlaceAppleNearOrangeCanEnv-v0,0.8333
+Alt,AltPlaceBottleNearOrangeEnv-v0,0.8333
+Alt,AltPlaceBottleNearSpongeEnv-v0,0.7500
+Alt,AltPutOrangeOnPlateInScene-v0,0.2917
+Alt,AltPutSponeOnPlateInScene-v0,0.2917
+
+Category,Average_Success_Rate
+Free,0.4667
+Alt,0.4613

results_step-006000-epoch-01-loss=0.1724_instruct_cot_2/log/final_results_instruct.log

@@ -0,0 +1,85 @@
+Category,Task,Success_Rate
+Free,FreeCloseBottomDrawerCustomInScene-v0,0.7778
+Free,FreeCloseBottomDrawerCustomInScene-v1,0.3333
+Free,FreeCloseMiddleDrawerCustomInScene-v0,0.6667
+Free,FreeCloseMiddleDrawerCustomInScene-v1,0.5556
+Free,FreeCloseTopDrawerCustomInScene-v0,0.6667
+Free,FreeCloseTopDrawerCustomInScene-v1,0.5556
+Free,FreeGraspSingle7upCanInScene-v0,0.0400
+Free,FreeGraspSingle7upCanInScene-v1,0.2800
+Free,FreeGraspSingle7upCanInScene-v2,0.2800
+Free,FreeGraspSingleBananaInScene-v0,0.4375
+Free,FreeGraspSingleBananaInScene-v1,0.2500
+Free,FreeGraspSingleBananaInScene-v2,0.2500
+Free,FreeGraspSingleLemonInScene-v0,1.0000
+Free,FreeGraspSingleLemonInScene-v1,0.8750
+Free,FreeGraspSingleLemonInScene-v2,0.8125
+Free,FreeGraspSingleOpened7upCanInScene-v0,0.4000
+Free,FreeGraspSingleOpened7upCanInScene-v1,0.1600
+Free,FreeGraspSingleOpenedPepsiCanInScene-v0,0.7200
+Free,FreeGraspSingleOpenedPepsiCanInScene-v1,0.8000
+Free,FreeGraspSingleOrangeInScene-v0,0.5625
+Free,FreeGraspSingleOrangeInScene-v1,0.6875
+Free,FreeGraspSinglePearInScene-v0,0.8750
+Free,FreeGraspSinglePearInScene-v1,0.8750
+Free,FreeGraspSinglePearInScene-v2,1.0000
+Free,FreeGraspSinglePlumInScene-v0,0.9375
+Free,FreeGraspSinglePlumInScene-v1,0.8750
+Free,FreeGraspSinglePumpkinInScene-v0,0.3125
+Free,FreeGraspSinglePumpkinInScene-v1,0.8750
+Free,FreeGraspSingleSpriteCanInScene-v0,0.3600
+Free,FreeGraspSingleSpriteCanInScene-v1,0.0800
+Free,FreeGraspSingleSpriteCanInScene-v2,0.5600
+Free,FreeOpenBottomDrawerCustomInScene-v0,0.4444
+Free,FreeOpenBottomDrawerCustomInScene-v1,0.3333
+Free,FreeOpenMiddleDrawerCustomInScene-v0,0.1111
+Free,FreeOpenMiddleDrawerCustomInScene-v1,0.2222
+Free,FreeOpenTopDrawerCustomInScene-v0,0.6667
+Free,FreeOpenTopDrawerCustomInScene-v1,0.6667
+Free,FreePlaceBottleNearOrangeEnv-v0,0.8333
+Free,FreePlaceIntoTopDrawerEnv-v0,0.2222
+Free,FreePlaceIntoTopDrawerEnv-v1,0.6667
+Free,FreePlaceIntoTopDrawerEnv-v2,0.4444
+Free,FreePlaceLNearAEnv-v0,0.2500
+Free,FreePlaceLNearVEnv-v0,0.1667
+Free,FreePlaceLemonNearPearEnv-v0,0.5833
+Free,FreePlaceLemonNearPearEnv-v1,0.1667
+Free,FreePlaceLemonNearPearEnv-v2,0.3333
+Free,FreePlaceMugNearPlaystationEnv-v0,0.0833
+Free,FreePlaceMugNearPlaystationEnv-v0,0.1667
+Free,FreePlaceMugNearPlaystationEnv-v1,0.0833
+Free,FreePlaceMugNearPlaystationEnv-v1,0.1667
+Alt,AltCloseDrawerInLongStep1HorizonInSceneEnv-v0,0.2222
+Alt,AltCloseDrawerInLongStep1HorizonInSceneEnv-v0,0.3333
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,1.0000
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.8889
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.8889
+Alt,AltCloseMiddleDrawerInLongStep2HorizonInSceneEnv-v0,0.0000
+Alt,AltCloseMiddleDrawerInLongStep2HorizonInSceneEnv-v0,0.0000
+Alt,AltGraspEggplantDistractorInSceneEnv-v0,0.4375
+Alt,AltGraspEggplantDistractorInSceneEnv-v0,0.5625
+Alt,AltGraspMugDistractorInSceneEnv-v0,0.0000
+Alt,AltGraspMugDistractorInSceneEnv-v0,0.0000
+Alt,AltGraspMugDistractorInSceneEnv-v1,0.1875
+Alt,AltGraspMugDistractorInSceneEnv-v1,0.1250
+Alt,AltGraspOrange2DistractorInSceneEnv-v0,0.5000
+Alt,AltGraspOrange2DistractorInSceneEnv-v0,0.8750
+Alt,AltGraspOrangeDistractorInSceneEnv-v0,0.7500
+Alt,AltGraspOrangeDistractorInSceneEnv-v0,0.4375
+Alt,AltGraspSpongeDistractorInSceneEnv-v0,0.9375
+Alt,AltGraspSpongeDistractorInSceneEnv-v0,0.5625
+Alt,AltOpenBottomDrawerCustomInSceneEnv-v0,0.4444
+Alt,AltOpenBottomDrawerCustomInSceneEnv2-v0,0.4444
+Alt,AltOpenMiddleDrawerCustomInSceneEnv-v0,0.1111
+Alt,AltOpenMiddleDrawerCustomInSceneEnv2-v0,0.0000
+Alt,AltOpenTopDrawerCustomInSceneEnv-v0,0.5556
+Alt,AltOpenTopDrawerCustomInSceneEnv2-v0,0.4444
+Alt,AltPlaceAppleNearOrangeCanEnv-v0,0.7500
+Alt,AltPlaceBottleNearOrangeEnv-v0,0.7500
+Alt,AltPlaceBottleNearSpongeEnv-v0,0.7500
+Alt,AltPutOrangeOnPlateInScene-v0,0.3333
+Alt,AltPutSponeOnPlateInScene-v0,0.2917
+
+Category,Average_Success_Rate
+Free,0.4894
+Alt,0.4528

results_step-006000-epoch-01-loss=0.1724_instruct_cot_3/log/final_results_instruct.log

@@ -0,0 +1,85 @@
+Category,Task,Success_Rate
+Free,FreeCloseBottomDrawerCustomInScene-v0,0.6667
+Free,FreeCloseBottomDrawerCustomInScene-v1,0.4444
+Free,FreeCloseMiddleDrawerCustomInScene-v0,0.6667
+Free,FreeCloseMiddleDrawerCustomInScene-v1,0.4444
+Free,FreeCloseTopDrawerCustomInScene-v0,0.7778
+Free,FreeCloseTopDrawerCustomInScene-v1,0.5556
+Free,FreeGraspSingle7upCanInScene-v0,0.2400
+Free,FreeGraspSingle7upCanInScene-v1,0.1200
+Free,FreeGraspSingle7upCanInScene-v2,0.2000
+Free,FreeGraspSingleBananaInScene-v0,0.3125
+Free,FreeGraspSingleBananaInScene-v1,0.1250
+Free,FreeGraspSingleBananaInScene-v2,0.2500
+Free,FreeGraspSingleLemonInScene-v0,1.0000
+Free,FreeGraspSingleLemonInScene-v1,0.9375
+Free,FreeGraspSingleLemonInScene-v2,0.9375
+Free,FreeGraspSingleOpened7upCanInScene-v0,0.4800
+Free,FreeGraspSingleOpened7upCanInScene-v1,0.0800
+Free,FreeGraspSingleOpenedPepsiCanInScene-v0,0.7200
+Free,FreeGraspSingleOpenedPepsiCanInScene-v1,0.6800
+Free,FreeGraspSingleOrangeInScene-v0,0.5000
+Free,FreeGraspSingleOrangeInScene-v1,0.6250
+Free,FreeGraspSinglePearInScene-v0,1.0000
+Free,FreeGraspSinglePearInScene-v1,0.9375
+Free,FreeGraspSinglePearInScene-v2,0.8750
+Free,FreeGraspSinglePlumInScene-v0,0.9375
+Free,FreeGraspSinglePlumInScene-v1,0.9375
+Free,FreeGraspSinglePumpkinInScene-v0,0.3125
+Free,FreeGraspSinglePumpkinInScene-v1,0.8125
+Free,FreeGraspSingleSpriteCanInScene-v0,0.3600
+Free,FreeGraspSingleSpriteCanInScene-v1,0.2400
+Free,FreeGraspSingleSpriteCanInScene-v2,0.5200
+Free,FreeOpenBottomDrawerCustomInScene-v0,0.2222
+Free,FreeOpenBottomDrawerCustomInScene-v1,0.3333
+Free,FreeOpenMiddleDrawerCustomInScene-v0,0.1111
+Free,FreeOpenMiddleDrawerCustomInScene-v1,0.1111
+Free,FreeOpenTopDrawerCustomInScene-v0,0.4444
+Free,FreeOpenTopDrawerCustomInScene-v1,0.1111
+Free,FreePlaceBottleNearOrangeEnv-v0,0.8333
+Free,FreePlaceIntoTopDrawerEnv-v0,0.0000
+Free,FreePlaceIntoTopDrawerEnv-v1,0.5556
+Free,FreePlaceIntoTopDrawerEnv-v2,0.8889
+Free,FreePlaceLNearAEnv-v0,0.2500
+Free,FreePlaceLNearVEnv-v0,0.1667
+Free,FreePlaceLemonNearPearEnv-v0,0.5833
+Free,FreePlaceLemonNearPearEnv-v1,0.2500
+Free,FreePlaceLemonNearPearEnv-v2,0.2500
+Free,FreePlaceMugNearPlaystationEnv-v0,0.0833
+Free,FreePlaceMugNearPlaystationEnv-v0,0.0833
+Free,FreePlaceMugNearPlaystationEnv-v1,0.2500
+Free,FreePlaceMugNearPlaystationEnv-v1,0.0833
+Alt,AltCloseDrawerInLongStep1HorizonInSceneEnv-v0,0.4444
+Alt,AltCloseDrawerInLongStep1HorizonInSceneEnv-v0,0.3333
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.8889
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.8889
+Alt,AltCloseDrawerInLongStep2HorizonInSceneEnv-v0,0.7778
+Alt,AltCloseMiddleDrawerInLongStep2HorizonInSceneEnv-v0,0.0000
+Alt,AltCloseMiddleDrawerInLongStep2HorizonInSceneEnv-v0,0.0000
+Alt,AltGraspEggplantDistractorInSceneEnv-v0,0.5000
+Alt,AltGraspEggplantDistractorInSceneEnv-v0,0.5000
+Alt,AltGraspMugDistractorInSceneEnv-v0,0.0000
+Alt,AltGraspMugDistractorInSceneEnv-v0,0.0000
+Alt,AltGraspMugDistractorInSceneEnv-v1,0.1875
+Alt,AltGraspMugDistractorInSceneEnv-v1,0.0000
+Alt,AltGraspOrange2DistractorInSceneEnv-v0,0.6250
+Alt,AltGraspOrange2DistractorInSceneEnv-v0,0.6250
+Alt,AltGraspOrangeDistractorInSceneEnv-v0,0.7500
+Alt,AltGraspOrangeDistractorInSceneEnv-v0,0.2500
+Alt,AltGraspSpongeDistractorInSceneEnv-v0,0.9375
+Alt,AltGraspSpongeDistractorInSceneEnv-v0,0.5625
+Alt,AltOpenBottomDrawerCustomInSceneEnv-v0,0.4444
+Alt,AltOpenBottomDrawerCustomInSceneEnv2-v0,0.4444
+Alt,AltOpenMiddleDrawerCustomInSceneEnv-v0,0.1111
+Alt,AltOpenMiddleDrawerCustomInSceneEnv2-v0,0.0000
+Alt,AltOpenTopDrawerCustomInSceneEnv-v0,0.6667
+Alt,AltOpenTopDrawerCustomInSceneEnv2-v0,0.4444
+Alt,AltPlaceAppleNearOrangeCanEnv-v0,0.6667
+Alt,AltPlaceBottleNearOrangeEnv-v0,0.6667
+Alt,AltPlaceBottleNearSpongeEnv-v0,0.9167
+Alt,AltPutOrangeOnPlateInScene-v0,0.2500
+Alt,AltPutSponeOnPlateInScene-v0,0.3333
+
+Category,Average_Success_Rate
+Free,0.4661
+Alt,0.4405

results_step-006000-epoch-01-loss=0.1724_simpler_1/log/final_result.log

@@ -0,0 +1,114 @@
+***Pick coke can results***
+--------------------
+horizontal sim variant avg success {'CogACT-Base': 0.9777777777777779}
+vertical sim variant avg success {'CogACT-Base': 0.8666666666666667}
+standing sim variant avg success {'CogACT-Base': 0.9244444444444445}
+avg_orientation_sim_variant_results [0.9229629629629631]
+--------------------
+Orientation horizontal, ckpt CogACT-Base all robot arm visual matching success: [1.0, 0.96, 0.92, 1.0]
+Orientation vertical, ckpt CogACT-Base all robot arm visual matching success: [0.84, 0.96, 0.88, 0.84]
+Orientation standing, ckpt CogACT-Base all robot arm visual matching success: [0.84, 0.92, 0.96, 1.0]
+horizontal visual matching sim success {'CogACT-Base': 0.97}
+vertical visual matching sim success {'CogACT-Base': 0.8799999999999999}
+standing visual matching sim success {'CogACT-Base': 0.9299999999999999}
+avg_orientation_sim_visual_matching_results [0.9266666666666666]
+********************
+
+
+
+***Move Near results***
+--------------------
+sim variant avg success {'CogACT-Base': 0.7958333333333334}
+--------------------
+Ckpt CogACT-Base all robot arm visual matching success: [0.7166666666666667, 0.7, 0.7666666666666667, 0.7166666666666667]
+sim visual matching success {'CogACT-Base': 0.725}
+********************
+
+
+
+***Drawer results***
+--------------------
+open sim variant avg success {'CogACT-Base': 0.32804232804232797}
+close sim variant avg success {'CogACT-Base': 0.73015873015873}
+avg_sim_variant_results [0.529100529100529]
+--------------------
+Drawer task open, ckpt CogACT-Base all robot arm visual matching success: [0.3611111111111111, 0.27777777777777773, 0.19444444444444442, 0.3333333333333333]
+Drawer task close, ckpt CogACT-Base all robot arm visual matching success: [0.5277777777777778, 0.4722222222222222, 0.6388888888888888, 0.48148148148148145]
+open visual matching sim success {'CogACT-Base': 0.2777777777777778}
+close visual matching sim success {'CogACT-Base': 0.5462962962962964}
+avg_sim_visual_matching_results [0.4120370370370371]
+********************
+
+
+
+***Drawer results***
+--------------------
+put_apple_into_top_drawer sim variant avg success {'CogACT-Base': 0.5449735449735449}
+avg_sim_variant_results [0.5449735449735449]
+--------------------
+Drawer task put_apple_into_top_drawer, ckpt CogACT-Base all robot arm visual matching success: [0.4444444444444444, 0.4444444444444444, 0.37037037037037035, 0.4444444444444444]
+put_apple_into_top_drawer visual matching sim success {'CogACT-Base': 0.4444444444444444}
+avg_sim_visual_matching_results [0.4444444444444444]
+********************
+
+
+
+***Bridge Put On Env results***
+********** Results for put_spoon_on_tablecloth **********
+sim visual matching partial success {'CogACT-Base': 0.75}
+sim visual matching success {'CogACT-Base': 0.625}
+********************
+
+
+
+********** Results for put_carrot_on_plate **********
+sim visual matching partial success {'CogACT-Base': 0.75}
+sim visual matching success {'CogACT-Base': 0.5416666666666666}
+********************
+
+
+
+********** Results for stack_green_block_on_yellow_block **********
+sim visual matching partial success {'CogACT-Base': 0.5416666666666666}
+sim visual matching success {'CogACT-Base': 0.125}
+********************
+
+
+
+********** Results for put_eggplant_in_basket **********
+sim visual matching partial success {'CogACT-Base': 0.0}
+sim visual matching success {'CogACT-Base': 0.0}
+********************
+
+
+
+
+google_var:
+92.3
+92.3
+79.6
+79.6
+52.9
+52.9
+54.5
+54.5
+
+google_matching
+92.7
+92.7
+72.5
+72.5
+41.2
+41.2
+44.4
+44.4
+
+widowx_matching
+62.5
+62.5
+54.2
+54.2
+12.5
+12.5
+0.0
+0.0

results_step-006000-epoch-01-loss=0.1724_simpler_1/log/log3.log

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361e7895554a32fb13b3cf0622563c6e2b54e57736ec10443e34f79e508fa115
+size 13999626

results_step-006000-epoch-01-loss=0.1724_simpler_1/log/log7.log

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dccfe4dcfd2a75b5c271e905048e3b414bd726772f71b11459e65598002409e
+size 26753258

results_step-006000-epoch-01-loss=0.1724_simpler_2/log/final_result.log

@@ -0,0 +1,114 @@
+***Pick coke can results***
+--------------------
+horizontal sim variant avg success {'CogACT-Base': 0.9822222222222222}
+vertical sim variant avg success {'CogACT-Base': 0.8711111111111111}
+standing sim variant avg success {'CogACT-Base': 0.9199999999999999}
+avg_orientation_sim_variant_results [0.9244444444444445]
+--------------------
+Orientation horizontal, ckpt CogACT-Base all robot arm visual matching success: [1.0, 0.92, 1.0, 0.96]
+Orientation vertical, ckpt CogACT-Base all robot arm visual matching success: [0.72, 0.88, 0.88, 0.84]
+Orientation standing, ckpt CogACT-Base all robot arm visual matching success: [0.96, 0.84, 0.92, 1.0]
+horizontal visual matching sim success {'CogACT-Base': 0.97}
+vertical visual matching sim success {'CogACT-Base': 0.83}
+standing visual matching sim success {'CogACT-Base': 0.9299999999999999}
+avg_orientation_sim_visual_matching_results [0.9099999999999998]
+********************
+
+
+
+***Move Near results***
+--------------------
+sim variant avg success {'CogACT-Base': 0.7958333333333334}
+--------------------
+Ckpt CogACT-Base all robot arm visual matching success: [0.65, 0.7, 0.7333333333333333, 0.6666666666666666]
+sim visual matching success {'CogACT-Base': 0.6875}
+********************
+
+
+
+***Drawer results***
+--------------------
+open sim variant avg success {'CogACT-Base': 0.365079365079365}
+close sim variant avg success {'CogACT-Base': 0.6613756613756614}
+avg_sim_variant_results [0.5132275132275133]
+--------------------
+Drawer task open, ckpt CogACT-Base all robot arm visual matching success: [0.3611111111111111, 0.2222222222222222, 0.27777777777777773, 0.3333333333333333]
+Drawer task close, ckpt CogACT-Base all robot arm visual matching success: [0.4722222222222222, 0.4722222222222222, 0.49999999999999994, 0.5185185185185185]
+open visual matching sim success {'CogACT-Base': 0.28703703703703703}
+close visual matching sim success {'CogACT-Base': 0.48148148148148157}
+avg_sim_visual_matching_results [0.3842592592592593]
+********************
+
+
+
+***Drawer results***
+--------------------
+put_apple_into_top_drawer sim variant avg success {'CogACT-Base': 0.5661375661375662}
+avg_sim_variant_results [0.5661375661375662]
+--------------------
+Drawer task put_apple_into_top_drawer, ckpt CogACT-Base all robot arm visual matching success: [0.4629629629629629, 0.419753086419753, 0.38888888888888884, 0.4444444444444444]
+put_apple_into_top_drawer visual matching sim success {'CogACT-Base': 0.4629629629629629}
+avg_sim_visual_matching_results [0.4629629629629629]
+********************
+
+
+
+***Bridge Put On Env results***
+********** Results for put_spoon_on_tablecloth **********
+sim visual matching partial success {'CogACT-Base': 0.7083333333333334}
+sim visual matching success {'CogACT-Base': 0.6666666666666666}
+********************
+
+
+
+********** Results for put_carrot_on_plate **********
+sim visual matching partial success {'CogACT-Base': 0.6666666666666666}
+sim visual matching success {'CogACT-Base': 0.375}
+********************
+
+
+
+********** Results for stack_green_block_on_yellow_block **********
+sim visual matching partial success {'CogACT-Base': 0.6666666666666666}
+sim visual matching success {'CogACT-Base': 0.20833333333333334}
+********************
+
+
+
+********** Results for put_eggplant_in_basket **********
+sim visual matching partial success {'CogACT-Base': 0.041666666666666664}
+sim visual matching success {'CogACT-Base': 0.0}
+********************
+
+
+
+
+google_var:
+92.4
+92.4
+79.6
+79.6
+51.3
+51.3
+56.6
+56.6
+
+google_matching
+91.0
+91.0
+68.8
+68.8
+38.4
+38.4
+46.3
+46.3
+
+widowx_matching
+66.7
+66.7
+37.5
+37.5
+20.8
+20.8
+0.0
+0.0