/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
  warnings.warn(msg, UserWarning)
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
  deprecation_warning(
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
  ret = run_job(
[2026-03-30 20:23:52,292][root][INFO] - 
method:
  name: PERACT_BC
  agent_type: leader_follower
  robot_name: bimanual
  image_crop_size: 64
  bounds_offset:
  - 0.15
  voxel_sizes:
  - 100
  include_prev_layer: false
  num_latents: 2048
  latent_dim: 512
  transformer_depth: 6
  transformer_iterations: 1
  cross_heads: 1
  cross_dim_head: 64
  latent_heads: 8
  latent_dim_head: 64
  pos_encoding_with_lang: true
  conv_downsample: true
  lang_fusion_type: seq
  voxel_patch_size: 5
  voxel_patch_stride: 5
  final_dim: 64
  low_dim_size: 4
  input_dropout: 0.1
  attn_dropout: 0.1
  decoder_dropout: 0.0
  lr: 0.0005
  lr_scheduler: false
  num_warmup_steps: 3000
  optimizer: lamb
  lambda_weight_l2: 1.0e-06
  trans_loss_weight: 1.0
  rot_loss_weight: 1.0
  grip_loss_weight: 1.0
  collision_loss_weight: 1.0
  rotation_resolution: 5
  activation: lrelu
  norm: None
  crop_augmentation: true
  transform_augmentation:
    apply_se3: true
    aug_xyz:
    - 0.125
    - 0.125
    - 0.125
    aug_rpy:
    - 0.0
    - 0.0
    - 45.0
    aug_rot_resolution: ${method.rotation_resolution}
  demo_augmentation: true
  demo_augmentation_every_n: 10
  no_skip_connection: false
  no_perceiver: false
  no_language: false
  keypoint_method: heuristic
rlbench:
  task_name: perlf_release_subset3
  tasks:
  - coordinated_push_box
  - coordinated_lift_ball
  - dual_push_buttons
  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
  episode_length: 25
  cameras:
  - over_shoulder_left
  - over_shoulder_right
  - overhead
  - wrist_right
  - wrist_left
  - front
  camera_resolution:
  - 256
  - 256
  scene_bounds:
  - -0.3
  - -0.5
  - 0.6
  - 0.7
  - 0.5
  - 1.6
  include_lang_goal_in_obs: true
  time_in_state: true
  headless: true
  gripper_mode: BimanualDiscrete
  arm_action_mode: BimanualEndEffectorPoseViaPlanning
  action_mode: BimanualMoveArmThenGripper
framework:
  tensorboard_logging: true
  csv_logging: true
  gpu: 0
  logdir: /workspace/baselines/AnyBimanual_release_eval_subset3
  start_seed: 0
  record_every_n: 5
  eval_envs: 1
  eval_from_eps_number: 0
  eval_episodes: 5
  eval_type: 60000
  eval_save_metrics: true
cinematic_recorder:
  enabled: false
  camera_resolution:
  - 1280
  - 720
  fps: 30
  rotate_speed: 0.005
  save_path: /tmp/videos/

[2026-03-30 20:23:52,302][root][INFO] - Using env device cuda:0.
[2026-03-30 20:23:52,328][root][INFO] - Evaluating seed 0.
[2026-03-30 20:23:52,328][root][INFO] - Using method PERACT_BC with type leader_follower
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
Weight: [60000]
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
[03/30/26 20:24:44] INFO     INFO:root:eval_env:  _independent_env_runner.py:130
                             Launching env.                                     
                    INFO     INFO:root:Agent      _independent_env_runner.py:133
                             information:                                       
                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:134
                             ts.agent.LeaderFollo                               
                             werAgent object at                                 
                             0x7cbe7f895720>                                    
[03/30/26 20:24:48] INFO     INFO:root:Using dual panda robot environment.py:117
                    INFO     INFO:root:Setting control    arm_action_modes.py:79
                             mode for both robots                               
                    WARNING  WARNING:root:not sure how    task_environment.py:57
                             _robot_shapes are used is                          
                             used.                                              
                    INFO     INFO:root:Evaluating _independent_env_runner.py:164
                             weight 60000                                       
loaded weights from /workspace/baselines/AnyBimanual_release_eval_subset3/perlf_release_subset3/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
loaded weights from /workspace/baselines/AnyBimanual_release_eval_subset3/perlf_release_subset3/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt

Tasks:   0%|          | 0/3 [00:00<?, ?it/s]

Episodes:   0%|          | 0/5 [00:00<?, ?it/s][03/30/26 20:24:51] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 0,                                
                             seed 0.                                            
eval_demo_seed:  0
[03/30/26 20:25:33] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            
/workspace/third_party/AnyBimanual/third_party/YARR/yarr/utils/rollout_generator.py:76: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:253.)
  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}


Episodes:  20%|██        | 1/5 [01:02<04:09, 62.27s/it]Evaluating coordinated_push_box | Episode 0 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:25:53] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 1,                                
                             seed 1.                                            
eval_demo_seed:  1
[03/30/26 20:26:26] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  40%|████      | 2/5 [01:56<02:52, 57.65s/it]Evaluating coordinated_push_box | Episode 1 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:26:48] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 2,                                
                             seed 2.                                            
eval_demo_seed:  2
[03/30/26 20:27:25] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  60%|██████    | 3/5 [02:48<01:49, 54.88s/it]Evaluating coordinated_push_box | Episode 2 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:27:39] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 3,                                
                             seed 3.                                            
eval_demo_seed:  3
[03/30/26 20:28:13] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  80%|████████  | 4/5 [03:37<00:52, 52.80s/it]Evaluating coordinated_push_box | Episode 3 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:28:29] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 4,                                
                             seed 4.                                            
eval_demo_seed:  4
[03/30/26 20:29:04] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes: 100%|██████████| 5/5 [04:28<00:00, 51.86s/it]
Episodes: 100%|██████████| 5/5 [04:28<00:00, 53.62s/it]

Tasks:  33%|███▎      | 1/3 [04:28<08:56, 268.33s/it]Evaluating coordinated_push_box | Episode 4 | Score: 0.0 | Lang Goal: push the box to the red area
Finished coordinated_push_box | Final Score: 0.0

add_video needs package moviepy


Episodes:   0%|          | 0/5 [00:00<?, ?it/s][03/30/26 20:29:19] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 0,                                
                             seed 0.                                            
eval_demo_seed:  0
                    WARNING  WARNING:root:not sure how    task_environment.py:57
                             _robot_shapes are used is                          
                             used.                                              
[03/30/26 20:29:54] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  20%|██        | 1/5 [01:34<06:19, 94.91s/it]Evaluating coordinated_lift_ball | Episode 0 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:30:54] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 1,                                
                             seed 1.                                            
eval_demo_seed:  1
[03/30/26 20:31:29] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  40%|████      | 2/5 [02:43<03:59, 79.68s/it]Evaluating coordinated_lift_ball | Episode 1 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:32:03] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 2,                                
                             seed 2.                                            
eval_demo_seed:  2
[03/30/26 20:32:35] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  60%|██████    | 3/5 [03:37<02:15, 67.88s/it]Evaluating coordinated_lift_ball | Episode 2 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:32:57] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 3,                                
                             seed 3.                                            
eval_demo_seed:  3
[03/30/26 20:33:26] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  80%|████████  | 4/5 [04:27<01:00, 60.73s/it]Evaluating coordinated_lift_ball | Episode 3 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:33:47] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 4,                                
                             seed 4.                                            
eval_demo_seed:  4
[03/30/26 20:34:29] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes: 100%|██████████| 5/5 [05:35<00:00, 63.31s/it]
Episodes: 100%|██████████| 5/5 [05:35<00:00, 67.09s/it]

Tasks:  67%|██████▋   | 2/3 [10:04<05:08, 308.31s/it]Evaluating coordinated_lift_ball | Episode 4 | Score: 0.0 | Lang Goal: Lift the ball
Finished coordinated_lift_ball | Final Score: 0.0

add_video needs package moviepy


Episodes:   0%|          | 0/5 [00:00<?, ?it/s][03/30/26 20:34:56] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 0,                                
                             seed 0.                                            
eval_demo_seed:  0
                    WARNING  WARNING:root:not sure how    task_environment.py:57
                             _robot_shapes are used is                          
                             used.                                              
[03/30/26 20:35:19] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  20%|██        | 1/5 [00:32<02:11, 32.97s/it]Evaluating dual_push_buttons | Episode 0 | Score: 100.0 | Lang Goal: push the rose and the maroon buttons
[03/30/26 20:35:29] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 1,                                
                             seed 1.                                            
eval_demo_seed:  1
[03/30/26 20:36:00] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  40%|████      | 2/5 [01:19<02:03, 41.21s/it]Evaluating dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
[03/30/26 20:36:15] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 2,                                
                             seed 2.                                            
eval_demo_seed:  2
[03/30/26 20:36:44] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  60%|██████    | 3/5 [02:35<01:53, 56.82s/it]Evaluating dual_push_buttons | Episode 2 | Score: 0.0 | Lang Goal: push the violet and the blue buttons
[03/30/26 20:37:31] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 3,                                
                             seed 3.                                            
eval_demo_seed:  3
[03/30/26 20:37:56] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  80%|████████  | 4/5 [03:12<00:48, 48.98s/it]Evaluating dual_push_buttons | Episode 3 | Score: 100.0 | Lang Goal: push the green and the violet buttons
[03/30/26 20:38:08] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 4,                                
                             seed 4.                                            
eval_demo_seed:  4
[03/30/26 20:38:40] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes: 100%|██████████| 5/5 [04:07<00:00, 51.06s/it]
Episodes: 100%|██████████| 5/5 [04:07<00:00, 49.41s/it]

Tasks: 100%|██████████| 3/3 [14:11<00:00, 280.44s/it]
Tasks: 100%|██████████| 3/3 [14:11<00:00, 283.97s/it]
Evaluating dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
Finished dual_push_buttons | Final Score: 40.0

add_video needs package moviepy
[03/30/26 20:39:03] INFO     INFO:root:Finished   _independent_env_runner.py:292
                             evaluation.                                        
[CoppeliaSim:loadinfo]   done.
[W330 20:39:14.096037786 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]