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logs/00141362-b832-4e35-af74-d4c6774fc1fa/config.json

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+{
+    "Filter": {
+        "kwargs": {},
+        "name": "kde"
+    },
+    "checkpoint": "checkpoint2",
+    "checkpoint_path": "data/weights/diffusion_transformer_square_mh/checkpoints/full_80/checkpoint2.ckpt",
+    "dataset": "full_80",
+    "device": "cuda:0",
+    "horizon": 8,
+    "model": "transformer",
+    "output_dir": "/fastwork/arosasco/bulb/logs/00141362-b832-4e35-af74-d4c6774fc1fa",
+    "start_time": "20250207_013844",
+    "tags": "top_probability",
+    "task": "square_mh",
+    "tta": "none"
+}

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logs/00141362-b832-4e35-af74-d4c6774fc1fa/meta.json

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+{
+  "action_id": "00141362-b832-4e35-af74-d4c6774fc1fa",
+  "commit": "fb9d304f0e3e9bf1cf8b05cbadc2395e70a1e56e",
+  "action": "/work/arosasco/miniforge3/envs/robodiff/bin/python eval.py --task square_mh --Filter.name kde --model transformer --tags top_probability --checkpoint checkpoint2",
+  "name": "",
+  "status": "Success",
+  "submission_time": "20250206_095026",
+  "job_id": "909567.pbs01.priv.franklin.lan",
+  "hostname": "anode02.priv.franklin.lan",
+  "start_time": "20250207_013841",
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+}

logs/00141362-b832-4e35-af74-d4c6774fc1fa/output.log

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+Configuration Loaded
+ROBOMIMIC WARNING(
+    No private macro file found!
+    It is recommended to use a private macro file
+    To setup, run: python /work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/robomimic/scripts/setup_macros.py
+)
+
+============= Initialized Observation Utils with Obs Spec =============
+
+using obs modality: low_dim with keys: ['robot0_gripper_qpos', 'robot0_eef_pos', 'robot0_eef_quat']
+using obs modality: rgb with keys: ['robot0_eye_in_hand_image', 'agentview_image']
+using obs modality: depth with keys: []
+using obs modality: scan with keys: []
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.
+  warnings.warn(
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=None`.
+  warnings.warn(msg)
+Using filtering method: KDE Filter
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name NutAssemblySquare
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+
                                                         
                                                         
                                                         
                                                         

logs/0020b24f-036e-44a5-a83f-e6429e51f069/config.json

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+{
+    "Filter": {
+        "kwargs": {},
+        "name": "kde"
+    },
+    "checkpoint": "checkpoint1",
+    "checkpoint_path": "data/weights/diffusion_cnn_transport_ph/checkpoints/full_80/checkpoint1.ckpt",
+    "dataset": "full_80",
+    "device": "cuda:0",
+    "horizon": 8,
+    "model": "cnn",
+    "output_dir": "/fastwork/arosasco/bulb/logs/0020b24f-036e-44a5-a83f-e6429e51f069",
+    "start_time": "20250207_143849",
+    "tags": "top_probability",
+    "task": "transport_ph",
+    "tta": "none"
+}

logs/0020b24f-036e-44a5-a83f-e6429e51f069/eval_log.json

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+}

logs/0020b24f-036e-44a5-a83f-e6429e51f069/meta.json

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+{
+  "action_id": "0020b24f-036e-44a5-a83f-e6429e51f069",
+  "commit": "fb9d304f0e3e9bf1cf8b05cbadc2395e70a1e56e",
+  "action": "/work/arosasco/miniforge3/envs/robodiff/bin/python eval.py --task transport_ph --Filter.name kde --model cnn --tags top_probability --checkpoint checkpoint1",
+  "name": "",
+  "status": "Success",
+  "submission_time": "20250206_095141",
+  "job_id": "909574.pbs01.priv.franklin.lan",
+  "hostname": "afnode01.priv.franklin.lan",
+  "start_time": "20250207_143844",
+  "end_time": "20250207_173518"
+}

logs/0020b24f-036e-44a5-a83f-e6429e51f069/output.log

@@ -0,0 +1,327 @@
+Configuration Loaded
+ROBOMIMIC WARNING(
+    No private macro file found!
+    It is recommended to use a private macro file
+    To setup, run: python /work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/robomimic/scripts/setup_macros.py
+)
+
+============= Initialized Observation Utils with Obs Spec =============
+
+using obs modality: low_dim with keys: ['robot1_eef_quat', 'robot0_eef_quat', 'robot0_gripper_qpos', 'robot0_eef_pos', 'robot1_eef_pos', 'robot1_gripper_qpos']
+using obs modality: rgb with keys: ['shouldercamera0_image', 'shouldercamera1_image', 'robot1_eye_in_hand_image', 'robot0_eye_in_hand_image']
+using obs modality: depth with keys: []
+using obs modality: scan with keys: []
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.
+  warnings.warn(
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=None`.
+  warnings.warn(msg)
+Diffusion params: 2.635040e+08
+Vision params: 4.478835e+07
+Using filtering method: KDE Filter
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+
                                                       
                                                       
                                                       
                                                       

logs/011e458b-fd88-4a63-87dc-1f3f4b419b30/config.json

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+{
+    "Filter": {
+        "kwargs": {},
+        "name": "kde"
+    },
+    "checkpoint": "checkpoint3",
+    "checkpoint_path": "data/weights/diffusion_cnn_tool_hang_ph/checkpoints/full_80/checkpoint3.ckpt",
+    "dataset": "full_80",
+    "device": "cuda:0",
+    "horizon": 8,
+    "model": "cnn",
+    "output_dir": "/fastwork/arosasco/bulb/logs/011e458b-fd88-4a63-87dc-1f3f4b419b30",
+    "start_time": "20250206_225918",
+    "tags": "top_probability",
+    "task": "tool_hang_ph",
+    "tta": "none"
+}

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+}

logs/011e458b-fd88-4a63-87dc-1f3f4b419b30/meta.json

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+{
+  "action_id": "011e458b-fd88-4a63-87dc-1f3f4b419b30",
+  "commit": "fb9d304f0e3e9bf1cf8b05cbadc2395e70a1e56e",
+  "action": "/work/arosasco/miniforge3/envs/robodiff/bin/python eval.py --task tool_hang_ph --Filter.name kde --model cnn --tags top_probability --checkpoint checkpoint3",
+  "name": "",
+  "status": "Success",
+  "submission_time": "20250206_095012",
+  "job_id": "909572.pbs01.priv.franklin.lan",
+  "hostname": "anode02.priv.franklin.lan",
+  "start_time": "20250206_225915",
+  "end_time": "20250207_005540"
+}

logs/011e458b-fd88-4a63-87dc-1f3f4b419b30/output.log

@@ -0,0 +1,327 @@
+Configuration Loaded
+ROBOMIMIC WARNING(
+    No private macro file found!
+    It is recommended to use a private macro file
+    To setup, run: python /work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/robomimic/scripts/setup_macros.py
+)
+
+============= Initialized Observation Utils with Obs Spec =============
+
+using obs modality: low_dim with keys: ['robot0_gripper_qpos', 'robot0_eef_pos', 'robot0_eef_quat']
+using obs modality: rgb with keys: ['sideview_image', 'robot0_eye_in_hand_image']
+using obs modality: depth with keys: []
+using obs modality: scan with keys: []
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.
+  warnings.warn(
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=None`.
+  warnings.warn(msg)
+Diffusion params: 2.556120e+08
+Vision params: 2.239418e+07
+Using filtering method: KDE Filter
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name ToolHang
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+
                                                
                                                
                                                
                                                

logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/config.json

@@ -0,0 +1,18 @@
+{
+    "Filter": {
+        "name": "kde",
+        "seed": "2",
+        "threshold": "0.9"
+    },
+    "checkpoint": "checkpoint1",
+    "checkpoint_path": "data/weights/diffusion_transformer_lift_mh/checkpoints/original/checkpoint1.ckpt",
+    "dataset": "original",
+    "device": "cuda:0",
+    "horizon": "8",
+    "model": "transformer",
+    "output_dir": "/home/fceola/.bulb/logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5",
+    "shift": "none",
+    "start_time": "20250220_140404",
+    "tags": "different_seeds",
+    "task": "lift_mh"
+}

logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/eval_log.json

@@ -0,0 +1,107 @@
+{
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+  "test/sim_video_4600001": "/home/fceola/.bulb/logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/media/uocunxgr.mp4",
+  "test/sim_video_4600002": "/home/fceola/.bulb/logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/media/tjoc310t.mp4",
+  "test/sim_video_4600003": "/home/fceola/.bulb/logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/media/a3ovsxln.mp4"
+}

logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/meta.json

@@ -0,0 +1,7 @@
+{
+  "job_id": "5653.franklin4e",
+  "hostname": "gnode10",
+  "status": "Success",
+  "start_time": "20250220_140402",
+  "end_time": "20250220_142729"
+}

logs/014715c8-5ef0-4bcb-955b-b138f0f01bc5/output.log

@@ -0,0 +1,325 @@
+Configuration Loaded
+ROBOMIMIC WARNING(
+    No private macro file found!
+    It is recommended to use a private macro file
+    To setup, run: python /home/fceola/miniforge3/envs/robodiff/lib/python3.9/site-packages/robomimic/scripts/setup_macros.py
+)
+
+============= Initialized Observation Utils with Obs Spec =============
+
+using obs modality: low_dim with keys: ['robot0_eef_quat', 'robot0_eef_pos', 'robot0_gripper_qpos']
+using obs modality: rgb with keys: ['robot0_eye_in_hand_image', 'agentview_image']
+using obs modality: depth with keys: []
+using obs modality: scan with keys: []
+/home/fceola/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.
+  warnings.warn(
+/home/fceola/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=None`.
+  warnings.warn(msg)
+Using filtering method: KDE Filter
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name Lift
+Action size is 7
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+
                                            
                                            

logs/01964f0d-cf4b-43a7-929e-83abdc86414a/config.json

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+{
+    "Filter": {
+        "kwargs": {},
+        "name": "kde"
+    },
+    "checkpoint": "checkpoint3",
+    "checkpoint_path": "data/weights/diffusion_cnn_transport_ph/checkpoints/full_80/checkpoint3.ckpt",
+    "dataset": "full_80",
+    "device": "cuda:0",
+    "horizon": 8,
+    "model": "cnn",
+    "output_dir": "/fastwork/arosasco/bulb/logs/01964f0d-cf4b-43a7-929e-83abdc86414a",
+    "start_time": "20250207_173638",
+    "tags": "top_probability",
+    "task": "transport_ph",
+    "tta": "none"
+}

logs/01964f0d-cf4b-43a7-929e-83abdc86414a/eval_log.json

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+}

logs/01964f0d-cf4b-43a7-929e-83abdc86414a/meta.json

@@ -0,0 +1,12 @@
+{
+  "action_id": "01964f0d-cf4b-43a7-929e-83abdc86414a",
+  "commit": "fb9d304f0e3e9bf1cf8b05cbadc2395e70a1e56e",
+  "action": "/work/arosasco/miniforge3/envs/robodiff/bin/python eval.py --task transport_ph --Filter.name kde --model cnn --tags top_probability --checkpoint checkpoint3",
+  "name": "",
+  "status": "Success",
+  "submission_time": "20250206_095154",
+  "job_id": "909576.pbs01.priv.franklin.lan",
+  "hostname": "afnode01.priv.franklin.lan",
+  "start_time": "20250207_173629",
+  "end_time": "20250207_203333"
+}

logs/01964f0d-cf4b-43a7-929e-83abdc86414a/output.log

@@ -0,0 +1,327 @@
+Configuration Loaded
+ROBOMIMIC WARNING(
+    No private macro file found!
+    It is recommended to use a private macro file
+    To setup, run: python /work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/robomimic/scripts/setup_macros.py
+)
+
+============= Initialized Observation Utils with Obs Spec =============
+
+using obs modality: low_dim with keys: ['robot1_eef_quat', 'robot1_eef_pos', 'robot0_gripper_qpos', 'robot0_eef_quat', 'robot1_gripper_qpos', 'robot0_eef_pos']
+using obs modality: rgb with keys: ['shouldercamera1_image', 'robot1_eye_in_hand_image', 'robot0_eye_in_hand_image', 'shouldercamera0_image']
+using obs modality: depth with keys: []
+using obs modality: scan with keys: []
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.
+  warnings.warn(
+/work/arosasco/miniforge3/envs/robodiff/lib/python3.9/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=None`.
+  warnings.warn(msg)
+Diffusion params: 2.635040e+08
+Vision params: 4.478835e+07
+Using filtering method: KDE Filter
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+Created environment with name TwoArmTransport
+Action size is 14
+ROBOMIMIC WARNING(
+    No environment version found in dataset!
+    Cannot verify if dataset and installed environment versions match
+)
+
                                                       
                                                       
                                                       
                                                       

logs/01abc630-b207-4350-b794-027152c43d22/config.json

@@ -0,0 +1,17 @@
+{
+    "Filter": {
+        "kwargs": {},
+        "name": "kde"
+    },
+    "checkpoint": "checkpoint1",
+    "checkpoint_path": "data/weights/diffusion_cnn_square_mh/checkpoints/full_80/checkpoint1.ckpt",
+    "dataset": "full_80",
+    "device": "cuda:0",
+    "horizon": 8,
+    "model": "cnn",
+    "output_dir": "/fastwork/arosasco/bulb/logs/01abc630-b207-4350-b794-027152c43d22",
+    "start_time": "20250206_095119",
+    "tags": "top_probability",
+    "task": "square_mh",
+    "tta": "none"
+}

logs/01abc630-b207-4350-b794-027152c43d22/eval_log.json

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+}