Add pushT CE-only (no_mse) checkpoints @ steps 2500, 5000

checkpoints_pusht_v0_ce_no_mse/0002500/data_status.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5168f41e703e4600086ca444b8d9e45dad24c8cb31d682c9aaf2c065d4f444e9
+size 880

checkpoints_pusht_v0_ce_no_mse/0002500/ema.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4102efa75b1cedfd53843484e97faa39a2ff8dd209fa00aba3c3cffb7044c862
+size 58429204680

checkpoints_pusht_v0_ce_no_mse/0002500/scheduler.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2920a106e11714c09df1f1a7b4ff47f709e0cc7795a503d12a5450259222e66b
+size 1000

checkpoints_pusht_v0_ce_no_mse/0005000/data_status.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5168f41e703e4600086ca444b8d9e45dad24c8cb31d682c9aaf2c065d4f444e9
+size 880

checkpoints_pusht_v0_ce_no_mse/0005000/ema.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1edc52c1a041dcd753c6a5eb0423d796561ed9255b98680cac996c9b6d976330
+size 58429204680

checkpoints_pusht_v0_ce_no_mse/0005000/scheduler.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab7f9f8b9409757505d5ca420486ae58a019b32fa9129317a78c5aea6a2247c7
+size 1000

checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank4.jsonl

@@ -0,0 +1 @@
+{"task": "pusht_ppo_1hz_success_30step_v0", "env_id": "pusht/easy", "env_kwargs": {"max_steps": 30, "success_threshold": 0.9, "init_distribution": "maniskill_like", "control_hz": 1, "easy_mode": false, "observation_width": 96, "observation_height": 96, "visualization_width": 96, "visualization_height": 96}, "seed": 2026042400, "episode_seed": 2026042592, "episode": 4, "extra_state": {"checkpoint_root": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424", "checkpoint_path": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424/latest_model.pt", "observation_kind": "pusht_ppo_lowdim", "action_control": "delta", "delta_action_scale": 64.0, "move_steps_before_stop": 9, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.578635", "history": [{"step": 0, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 1. You are allowed to take 29 more steps.", "vlm_output": "('move', (172.4582, 422.4000))", "action": "('move', (172.4582, 422.4000))", "reward": 0.16028828401339595, "image_prev": null, "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 1, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 2. You are allowed to take 28 more steps.", "vlm_output": "('move', (200.8260, 358.4649))", "action": "('move', (200.8260, 358.4649))", "reward": 0.4377885993843352, "image_prev": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAUVyPxNk1OLToJIXKaQu/8AtJo/vheNpb0h+9vI5Hy5+TzKxvCniD/hHtlhfv8A8SXpFKx/48PY/wDTD3/5Z/8AXP8A1fJPGQp1fZyVvM4amPhSrqlNW8+n9eZ6PRRRXWdwUUUUAFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFFFZvijVTomg3WqC1e5MCg+WpwOWA3M2DtRc7mbB2qGODjFKUlFNsmUlFOT2RkfEnxTL4X0ZJrK2hu7+disMMjkBVA+aVgATsUldx4HzDnJAPjOha8dIeKy1W5WS2mYlJBGEFuc5I2qMLCMgDsmQPukbek1zV1spjfandLc6nfMFBIKg46KoG4pEm7oAxGSfndvm4sxW8d1L5aMUm4DOACcD7u0EhV6kKCcAkFmOWbjoQWYxlFxsls/66/wBevgVKn9oX0sls/wCv6/X1jwp4g/4R7ZYX7/8AEl6RSsf+PD2P/TD3/wCWf/XP/V+j14z8LdLsdZn/ALMvrhjaWkYf+z2TKzqDjG/OfKHG6IjBJA3bCYh7NV4WlWopwq9Nj0cujWhT5arult/X5BRRRXUegFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFZPi3W4vD2iS6lLby3G0hERBwWbhdzdFXPc/gCSAdamTxRTwSQTxpLFIpR0dQyspGCCD1BHamrX1E9tD5rs7C51DVn+xWT3N5cudkNupKwoW4RASRHEu7AGQq5r17wv8ADjSrG0kOtJHqV1PHscEfu4c9fL7hv9vhuONuSK6Hwr4b0zw3Zvb6cjlpG3SzStukk9AT6DPAGB17kk7FayqJLlgrIxpUIwWx43F4F8S2ni8QaU0lvDbyrJFqbkYRDnBwPvtgFSmMHvhWBPslFFROo57mkIKGwUUUVBYVDef6g/7y/wDoQqaobz/UH/eX/wBCFABZ/wCoH+83/oRqaqtvMkcWxw4YM2fkPqfapPtMXq//AH7b/CgCaioftMXq/wD37b/CvKvjD4d8W654q0u88OzTi3jhCB1uWiFpLubMpHBGVccoGYhSMdM9eCw8MRV5JzUFrq9jKtUdOPMo3PW6Kh+0xer/APftv8KPtMXq/wD37b/CuQ1JqKh+0xer/wDftv8ACj7TF6v/AN+2/wAKAJqKh+0xer/9+2/wo+0xer/9+2/woAmqG8/1B/3l/wDQhR9pi9X/AO/bf4VHcTJJFsQOWLLj5D6j2oA//9k=", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 2, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 3. You are allowed to take 27 more steps.", "vlm_output": "('move', (215.3305, 314.1745))", "action": "('move', (215.3305, 314.1745))", "reward": 0.4599751448074442, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 3, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 4. You are allowed to take 26 more steps.", "vlm_output": "('move', (261.0997, 305.8404))", "action": "('move', (261.0997, 305.8404))", "reward": 0.5678335597976695, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 4, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 5. You are allowed to take 25 more steps.", "vlm_output": "('move', (300.4594, 339.4750))", "action": "('move', (300.4594, 339.4750))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 5, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 6. You are allowed to take 24 more steps.", "vlm_output": "('move', (363.2395, 301.7371))", "action": "('move', (363.2395, 301.7371))", "reward": 0.538125889976571, "image_prev": "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", "image": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVy+oePPDtlrq6RJdM0iyGOedV/c27ejt9eDjIXndjBqH4myanFp0EkLlNIXf8A2k0f3wvG0t6Q/e3kcj5c/J5leNeJ7S30G4ieIrHYXBICZA+zt7Dr5Zz/AMA/3SAuMcTTVf2M01fqefXx6p1vZW+Z9J0V598J/FZvoBoWpzqbqFQLR24aaMDlT6soH1I552sa9BronFxdmd0ZKSugoooqSgqG8/1B/wB5f/QhU1Q3n+oP+8v/AKEKACz/ANQP95v/AEI1NUNn/qB/vN/6EamoAKKKzfFGqnRNButUFq9yYFB8tTgcsBuZsHai53M2DtUMcHGKUpKKbZMpKKcnsjm/iH8QLPw250ywhF/rMiExw5xHCeMNKw6AZBwOcY6blz4dGl0LryXLXm+NnkKRbVtIwfmbCjEVuuR7Jx1B434PC162uJp+mQxzS3nzLtYqFUfe67ikaZ+8c43D/WO2H9o8DeFLDwppZt7Ym4u5sNd3bjDzsOnc7UGSFXJxk8klmM060JpTpPXv28vN910/PzYSeMfPF7fh/m+/b8/BNmo+E9RhZbhokixJDcRjHlYxkjsUzwQencbD8vv/AII19PEfh+K/ACzqxiuFVSFEi4zjOeDkEcnGcE5BrgviRofg3w7B9q8Qax9l0Td5sGjxOkcszhgrRxsWBMOHGYwBtzwyoAo6P4ReOtB8X+GLBbG6sIdTitV+16dCVRoGUKGKx5JEeWGDyBkA85AKdSbglUtfb+vvX/DHoYHL8ZGhKtOD5V1tp11Xlp8vuO2oooqzQKhvP9Qf95f/AEIVNUN5/qD/ALy/+hCgAs/9QP8Aeb/0I1NUNn/qB/vN/wChGpqACiiigDN0PQdJ0Q3B0uyW3NwwaTDM3AztRck7UXJ2ouFXJwBk1pUUUoxUVZImMVFWirIo69pOn67pU2l6pAZ7Obb5kYkZM7WDDlSCOQDwao+A/DNj4R8K2OhWKoRbxKJplTabiUKA0hBJOTjpk4GAOAK3KKvnly8t3bt06dPkjRSai497fhe35sKKKKkkKhvP9Qf95f8A0IVNUN5/qD/vL/6EKACz/wBQP95v/QjU1VbeZI4tjhwwZs/IfU+1SfaYvV/+/bf4UATUVD9pi9X/AO/bf4UfaYvV/wDv23+FAE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATUVD9pi9X/AO/bf4UfaYvV/wDv23+FAE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATVDef6g/7y/wDoQo+0xer/APftv8KjuJkki2IHLFlx8h9R7UAf/9k=", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 6, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 7. You are allowed to take 23 more steps.", "vlm_output": "('move', (311.9326, 237.7753))", "action": "('move', (311.9326, 237.7753))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 7, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 8. You are allowed to take 22 more steps.", "vlm_output": "('move', (247.9846, 217.4642))", "action": "('move', (247.9846, 217.4642))", "reward": 0.9378246069391212, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 8, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 9. You are allowed to take 21 more steps.", "vlm_output": "('move', (184.0495, 169.1537))", "action": "('move', (184.0495, 169.1537))", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFVtT1Cw0uxkvtTvbaytIseZPcSrHGmSAMsxAGSQPqaTdtWVGMpyUYq7ZZorznwN8XfC3ibxHqmkjU7W3KXax6WZmEf2yMpGPly3LmQthcAlSvGQ2PRqfVo2xGFq4dpVYtXSevmr/qFFFFBzhRRRQAVDef6g/7y/8AoQqaobz/AFB/3l/9CFABZ/6gf7zf+hGpqhs/9QP95v8A0I1NQAUUUUAcl4N8BeHvCWr6rqum26xPePlPmfEEPlxAx/MxBBeMvnA+8B0UV1kbpIiujKyMAVZTkEeorgPjhHrT+HYWs9x0hCzaoI/v7ONpPrEPm34/2SflD1ynw/8AHkvh4W+mao4l0L7sc3V7IdvrEPzQHj5QAtylOpecnfvd3eut/QxqYr95aS2SX3JJfKytf/hz2uimxSJLEksTq8bqGVlOQwPQg9xTqg2CiiigAqG8/wBQf95f/QhU1Q3n+oP+8v8A6EKACz/1A/3m/wDQjU1Q2f8AqB/vN/6EamoAKKKyvF2sf8I/4bvdY+xzXn2WPd5UfU5IGScHagzlmwcKCcHGKTdldilJRTbK3jXxRZeGNNE848+7mytraq2GmYYySedqDI3NjjIABYqp+dj9ptryZ44DLbSeZcyxWsB22a53MyqudkC5A5PyfLyc8bobWvFniIFSNQ1W95BB2xRxj8/LhTd7nLfxO/ze2eCfC9l4X00wQN9ou5sNd3bLhpmHQAc7UGTtXPGScklmOmtN3Xxfl/nf+vPhaliJXWlv6+bf4fn5R4A8bzeFHisr9jP4dY9QCz2Of4lx1i9V6r1HHFe6jkZFef8A/CqtC/4Sb7f5h/sjPm/2R5Y8rzc+uf8AVd/KxjPGdnyV6BUNpvRWX9fgb4eM4pqW3T+u3YKKKKDoCobz/UH/AHl/9CFTVDef6g/7y/8AoQoALP8A1A/3m/8AQjU1Q2f+oH+83/oRqagAooooAyvD3hzRPD/2r+x9Ois/tUnmTbMnJ5woyTtUZOEGFGTgDJrVoopJJaIUYqKskFFFFMYUUUUAFQ3n+oP+8v8A6EKmqG8/1B/3l/8AQhQAWf8AqB/vN/6EamqrbzJHFscOGDNn5D6n2qT7TF6v/wB+2/woAmoqH7TF6v8A9+2/wo+0xer/APftv8KAJqKh+0xer/8Aftv8KPtMXq//AH7b/CgCaioftMXq/wD37b/Cj7TF6v8A9+2/woAmoqH7TF6v/wB+2/wo+0xer/8Aftv8KAJqhvP9Qf8AeX/0IUfaYvV/+/bf4VHcTJJFsQOWLLj5D6j2oA//2Q==", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 9, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 10. You are allowed to take 20 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 10, "reward": 6.17808786487168, "terminated": true, "truncated": false, "success": true, "coverage": 0.9037272871982229}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.1163736992593, 310.7087586649242], "block_velocity": [0.0, 0.0], "block_angle": 0.900260107314014, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "587d73525f2ab66590595cd82bf4b6a66458e4c3d7b3aa91b67de12e51d64873", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}

checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank4.jsonl

@@ -0,0 +1 @@
+{"task": "pusht_ppo_1hz_success_30step_v0", "env_id": "pusht/easy", "env_kwargs": {"max_steps": 30, "success_threshold": 0.9, "init_distribution": "maniskill_like", "control_hz": 1, "easy_mode": false, "observation_width": 96, "observation_height": 96, "visualization_width": 96, "visualization_height": 96}, "seed": 2026042400, "episode_seed": 2026042592, "episode": 4, "extra_state": {"checkpoint_root": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424", "checkpoint_path": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424/latest_model.pt", "observation_kind": "pusht_ppo_lowdim", "action_control": "delta", "delta_action_scale": 64.0, "move_steps_before_stop": 9, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.578635", "history": [{"step": 0, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 1. You are allowed to take 29 more steps.", "vlm_output": "('move', (172.4582, 422.4000))", "action": "('move', (172.4582, 422.4000))", "reward": 0.16028828401339595, "image_prev": null, "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 1, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 2. You are allowed to take 28 more steps.", "vlm_output": "('move', (200.8260, 358.4649))", "action": "('move', (200.8260, 358.4649))", "reward": 0.4377885993843352, "image_prev": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAUVyPxNk1OLToJIXKaQu/8AtJo/vheNpb0h+9vI5Hy5+TzKxvCniD/hHtlhfv8A8SXpFKx/48PY/wDTD3/5Z/8AXP8A1fJPGQp1fZyVvM4amPhSrqlNW8+n9eZ6PRRRXWdwUUUUAFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFFFZvijVTomg3WqC1e5MCg+WpwOWA3M2DtRc7mbB2qGODjFKUlFNsmUlFOT2RkfEnxTL4X0ZJrK2hu7+disMMjkBVA+aVgATsUldx4HzDnJAPjOha8dIeKy1W5WS2mYlJBGEFuc5I2qMLCMgDsmQPukbek1zV1spjfandLc6nfMFBIKg46KoG4pEm7oAxGSfndvm4sxW8d1L5aMUm4DOACcD7u0EhV6kKCcAkFmOWbjoQWYxlFxsls/66/wBevgVKn9oX0sls/wCv6/X1jwp4g/4R7ZYX7/8AEl6RSsf+PD2P/TD3/wCWf/XP/V+j14z8LdLsdZn/ALMvrhjaWkYf+z2TKzqDjG/OfKHG6IjBJA3bCYh7NV4WlWopwq9Nj0cujWhT5arult/X5BRRRXUegFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFZPi3W4vD2iS6lLby3G0hERBwWbhdzdFXPc/gCSAdamTxRTwSQTxpLFIpR0dQyspGCCD1BHamrX1E9tD5rs7C51DVn+xWT3N5cudkNupKwoW4RASRHEu7AGQq5r17wv8ADjSrG0kOtJHqV1PHscEfu4c9fL7hv9vhuONuSK6Hwr4b0zw3Zvb6cjlpG3SzStukk9AT6DPAGB17kk7FayqJLlgrIxpUIwWx43F4F8S2ni8QaU0lvDbyrJFqbkYRDnBwPvtgFSmMHvhWBPslFFROo57mkIKGwUUUVBYVDef6g/7y/wDoQqaobz/UH/eX/wBCFABZ/wCoH+83/oRqaqtvMkcWxw4YM2fkPqfapPtMXq//AH7b/CgCaioftMXq/wD37b/CvKvjD4d8W654q0u88OzTi3jhCB1uWiFpLubMpHBGVccoGYhSMdM9eCw8MRV5JzUFrq9jKtUdOPMo3PW6Kh+0xer/APftv8KPtMXq/wD37b/CuQ1JqKh+0xer/wDftv8ACj7TF6v/AN+2/wAKAJqKh+0xer/9+2/wo+0xer/9+2/woAmqG8/1B/3l/wDQhR9pi9X/AO/bf4VHcTJJFsQOWLLj5D6j2oA//9k=", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 2, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 3. You are allowed to take 27 more steps.", "vlm_output": "('move', (215.3305, 314.1745))", "action": "('move', (215.3305, 314.1745))", "reward": 0.4599751448074442, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 3, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 4. You are allowed to take 26 more steps.", "vlm_output": "('move', (261.0997, 305.8404))", "action": "('move', (261.0997, 305.8404))", "reward": 0.5678335597976695, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 4, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 5. You are allowed to take 25 more steps.", "vlm_output": "('move', (300.4594, 339.4750))", "action": "('move', (300.4594, 339.4750))", "reward": 0.538125889976571, "image_prev": "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", "image": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVzOo+OvDllraaVLeFpBIY55lH7q3Ydnb68HGduDu24qv8AE2TU4tOgkhcppC7/AO0mj++F42lvSH728jkfLn5PMrxnxNZxaJeJsVF024Bwuf8AUMOox/zzwf8AgPPRcbcYYiHt/YzTWm559bHKnW9lb5n0pRXFfCvxOdY05tMvZGa/s0Hzu+WnjzgNzySOAx56qSctgdrXRKLi7M74yUldBRRRUjCobz/UH/eX/wBCFTVDef6g/wC8v/oQoALP/UD/AHm/9CNTVDZ/6gf7zf8AoRqagAoorK8X6hHpfhq+vZrH7dEke14CPkYMQpLkg4jGcu2DhQxwcYpSkoq7JlJRi5PZHI+PPiZaaQ7adoEcWpamSAGYk26f3ssDlscZxwM4zuwp8ajjuftXkO73hZC7ukWBZoCCWwoxFbqSPZOOoPG9pfhK/OpLp0Li6uJxiNkOxnVQPmPDCKJN2C3zegDO4z6Vd/CnQrnwnPo7XF3FdzrmW8gnkiEkgwVLRq4DopUbVYkjLHdvZnKp1oVGnSevfor7+r7rp67+dRksZPmbaS6pXt5WbV2+uun5+MeFtcl0qWz1vTJIxHEBKgcBhb7k+6wBPyFWwQDlMnkAZT6Z0HVLXWtIt9Tsy3kzqSAwwykEhlPuCCOOOOM15B8PvgZFY2NnN4h1S4kMttEbuwTcu19qloWcSMrIDuB2qCezAEg+z2Vpa2NslrZW0NtAmdkUKBEXJycAcDkk1fPzJfL/AIPy7dvuPTqUIUcRUhSd4Ju17d+lm9O2v3E1FFFIAqG8/wBQf95f/QhU1Q3n+oP+8v8A6EKACz/1A/3m/wDQjU1Q2f8AqB/vN/6EamoAKKKKAM3Q9B0nRDcHS7Jbc3DBpMMzcDO1FyTtRcnai4VcnAGTWlRRSjFRVkiYxUVaKsgoooplBRRRQAVDef6g/wC8v/oQqaobz/UH/eX/ANCFABZ/6gf7zf8AoRqaqtvMkcWxw4YM2fkPqfapPtMXq/8A37b/AAoAmoqH7TF6v/37b/Cj7TF6v/37b/CgCaioftMXq/8A37b/AAo+0xer/wDftv8ACgCaioftMXq//ftv8KPtMXq//ftv8KAJqKh+0xer/wDftv8ACj7TF6v/AN+2/wAKAJqhvP8AUH/eX/0IUfaYvV/+/bf4VHcTJJFsQOWLLj5D6j2oA//Z", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 5, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 6. You are allowed to take 24 more steps.", "vlm_output": "('move', (363.2395, 301.7371))", "action": "('move', (363.2395, 301.7371))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 6, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 7. You are allowed to take 23 more steps.", "vlm_output": "('move', (311.9326, 237.7753))", "action": "('move', (311.9326, 237.7753))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 7, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 8. You are allowed to take 22 more steps.", "vlm_output": "('move', (247.9846, 217.4642))", "action": "('move', (247.9846, 217.4642))", "reward": 0.9378246069391212, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 8, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 9. You are allowed to take 21 more steps.", "vlm_output": "('move', (184.0495, 169.1537))", "action": "('move', (184.0495, 169.1537))", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 9, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 10. You are allowed to take 20 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 10, "reward": 6.17808786487168, "terminated": true, "truncated": false, "success": true, "coverage": 0.9037272871982229}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.1163736992593, 310.7087586649242], "block_velocity": [0.0, 0.0], "block_angle": 0.900260107314014, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "587d73525f2ab66590595cd82bf4b6a66458e4c3d7b3aa91b67de12e51d64873", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}

checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank4.jsonl

@@ -0,0 +1 @@
+{"task": "pusht_ppo_1hz_success_30step_v0", "env_id": "pusht/easy", "env_kwargs": {"max_steps": 30, "success_threshold": 0.9, "init_distribution": "maniskill_like", "control_hz": 1, "easy_mode": false, "observation_width": 96, "observation_height": 96, "visualization_width": 96, "visualization_height": 96}, "seed": 2026042400, "episode_seed": 2026042592, "episode": 4, "extra_state": {"checkpoint_root": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424", "checkpoint_path": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424/latest_model.pt", "observation_kind": "pusht_ppo_lowdim", "action_control": "delta", "delta_action_scale": 64.0, "move_steps_before_stop": 9, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.578635", "history": [{"step": 0, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 1. You are allowed to take 29 more steps.", "vlm_output": "('move', (172.4582, 422.4000))", "action": "('move', (172.4582, 422.4000))", "reward": 0.16028828401339595, "image_prev": null, "image": "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", "image_next": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAUVyPxNk1OLToJIXKaQu/8AtJo/vheNpb0h+9vI5Hy5+TzKxvCniD/hHtlhfv8A8SXpFKx/48PY/wDTD3/5Z/8AXP8A1fJPGQp1fZyVvM4amPhSrqlNW8+n9eZ6PRRRXWdwUUUUAFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFFFZvijVTomg3WqC1e5MCg+WpwOWA3M2DtRc7mbB2qGODjFKUlFNsmUlFOT2RkfEnxTL4X0ZJrK2hu7+disMMjkBVA+aVgATsUldx4HzDnJAPjOha8dIeKy1W5WS2mYlJBGEFuc5I2qMLCMgDsmQPukbek1zV1spjfandLc6nfMFBIKg46KoG4pEm7oAxGSfndvm4sxW8d1L5aMUm4DOACcD7u0EhV6kKCcAkFmOWbjoQWYxlFxsls/66/wBevgVKn9oX0sls/wCv6/X1jwp4g/4R7ZYX7/8AEl6RSsf+PD2P/TD3/wCWf/XP/V+j14z8LdLsdZn/ALMvrhjaWkYf+z2TKzqDjG/OfKHG6IjBJA3bCYh7NV4WlWopwq9Nj0cujWhT5arult/X5BRRRXUegFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFZPi3W4vD2iS6lLby3G0hERBwWbhdzdFXPc/gCSAdaub+InivQPCmgS3GuzWzrMhSOzkkQPcgkKwCuRuA3Dd1wD0PQ1FXkl3KjCdR8sE2/JX/AAPDLOwudQ1Z/sVk9zeXLnZDbqSsKFuEQEkRxLuwBkKua9e8L/DjSrG0kOtJHqV1PHscEfu4c9fL7hv9vhuONuSKzP2fte8K6r4UgTSbmAa08SvqUDyqZy4VdzBck+UC+F7DPPzFq9Mq3VXLy01ZeRE8vng6jpVY2a6HjcXgXxLaeLxBpTSW8NvKskWpuRhEOcHA++2AVKYwe+FYE+yUUVM6jnuTCChsFFFFQWFQ3n+oP+8v/oQqaobz/UH/AHl/9CFABZ/6gf7zf+hGpqq28yRxbHDhgzZ+Q+p9qk+0xer/APftv8KAJqq6vp1jq+mz6bqVslzaTrtkjfoR1ByOQQcEEcggEYIqT7TF6v8A9+2/wo+0xer/APftv8KcZOLTTs0JpNWZk+BPDVl4S8LWOhWSxkW8KLNMsew3EgUBpGGScnHTJwMAcAVuVD9pi9X/AO/bf4UfaYvV/wDv23+FI0qTlUm5y3ev3k1FQ/aYvV/+/bf4UfaYvV/+/bf4UEE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATVDef6g/7y/8AoQo+0xer/wDftv8ACo7iZJItiByxZcfIfUe1AH//2Q==", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 1, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 2. You are allowed to take 28 more steps.", "vlm_output": "('move', (200.8260, 358.4649))", "action": "('move', (200.8260, 358.4649))", "reward": 0.4377885993843352, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 2, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 3. You are allowed to take 27 more steps.", "vlm_output": "('move', (215.3305, 314.1745))", "action": "('move', (215.3305, 314.1745))", "reward": 0.4599751448074442, "image_prev": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAUVyPxNk1OLToJIXKaQu/8AtJo/vheNpb0h+9vI5Hy5+TzKxvCniD/hHtlhfv8A8SXpFKx/48PY/wDTD3/5Z/8AXP8A1fJPGQp1fZyVvM4amPhSrqlNW8+n9eZ6PRRRXWdwUUUUAFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFFFZvijVTomg3WqC1e5MCg+WpwOWA3M2DtRc7mbB2qGODjFKUlFNsmUlFOT2RkfEnxTL4X0ZJrK2hu7+disMMjkBVA+aVgATsUldx4HzDnJAPjOha8dIeKy1W5WS2mYlJBGEFuc5I2qMLCMgDsmQPukbek1zV1spjfandLc6nfMFBIKg46KoG4pEm7oAxGSfndvm4sxW8d1L5aMUm4DOACcD7u0EhV6kKCcAkFmOWbjoQWYxlFxsls/66/wBevgVKn9oX0sls/wCv6/X1jwp4g/4R7ZYX7/8AEl6RSsf+PD2P/TD3/wCWf/XP/V+j14z8LdLsdZn/ALMvrhjaWkYf+z2TKzqDjG/OfKHG6IjBJA3bCYh7NV4WlWopwq9Nj0cujWhT5arult/X5BRRRXUegFQ3n+oP+8v/AKEKmqG8/wBQf95f/QhQAWf+oH+83/oRqaobP/UD/eb/ANCNTUAFZPi3W4vD2iS6lLby3G0hERBwWbhdzdFXPc/gCSAdaub+InivQPCmgS3GuzWzrMhSOzkkQPcgkKwCuRuA3Dd1wD0PQ1FXkl3KjCdR8sE2/JX/AAPDLOwudQ1Z/sVk9zeXLnZDbqSsKFuEQEkRxLuwBkKua9e8L/DjSrG0kOtJHqV1PHscEfu4c9fL7hv9vhuONuSKzP2fte8K6r4UgTSbmAa08SvqUDyqZy4VdzBck+UC+F7DPPzFq9Mq3VXLy01ZeRE8vng6jpVY2a6HjcXgXxLaeLxBpTSW8NvKskWpuRhEOcHA++2AVKYwe+FYE+yUUVM6jnuTCChsFFFFQWFQ3n+oP+8v/oQqaobz/UH/AHl/9CFABZ/6gf7zf+hGpqq28yRxbHDhgzZ+Q+p9qk+0xer/APftv8KAJqq6vp1jq+mz6bqVslzaTrtkjfoR1ByOQQcEEcggEYIqT7TF6v8A9+2/wo+0xer/APftv8KcZOLTTs0JpNWZk+BPDVl4S8LWOhWSxkW8KLNMsew3EgUBpGGScnHTJwMAcAVuVD9pi9X/AO/bf4UfaYvV/wDv23+FI0qTlUm5y3ev3k1FQ/aYvV/+/bf4UfaYvV/+/bf4UEE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATVDef6g/7y/8AoQo+0xer/wDftv8ACo7iZJItiByxZcfIfUe1AH//2Q==", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 3, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 4. You are allowed to take 26 more steps.", "vlm_output": "('move', (261.0997, 305.8404))", "action": "('move', (261.0997, 305.8404))", "reward": 0.5678335597976695, "image_prev": "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", "image": "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", "image_next": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVzOo+OvDllraaVLeFpBIY55lH7q3Ydnb68HGduDu24qv8AE2TU4tOgkhcppC7/AO0mj++F42lvSH728jkfLn5PMrxnxNZxaJeJsVF024Bwuf8AUMOox/zzwf8AgPPRcbcYYiHt/YzTWm559bHKnW9lb5n0pRXFfCvxOdY05tMvZGa/s0Hzu+WnjzgNzySOAx56qSctgdrXRKLi7M74yUldBRRRUjCobz/UH/eX/wBCFTVDef6g/wC8v/oQoALP/UD/AHm/9CNTVDZ/6gf7zf8AoRqagAoorK8X6hHpfhq+vZrH7dEke14CPkYMQpLkg4jGcu2DhQxwcYpSkoq7JlJRi5PZHI+PPiZaaQ7adoEcWpamSAGYk26f3ssDlscZxwM4zuwp8ajjuftXkO73hZC7ukWBZoCCWwoxFbqSPZOOoPG9pfhK/OpLp0Li6uJxiNkOxnVQPmPDCKJN2C3zegDO4z6Vd/CnQrnwnPo7XF3FdzrmW8gnkiEkgwVLRq4DopUbVYkjLHdvZnKp1oVGnSevfor7+r7rp67+dRksZPmbaS6pXt5WbV2+uun5+MeFtcl0qWz1vTJIxHEBKgcBhb7k+6wBPyFWwQDlMnkAZT6Z0HVLXWtIt9Tsy3kzqSAwwykEhlPuCCOOOOM15B8PvgZFY2NnN4h1S4kMttEbuwTcu19qloWcSMrIDuB2qCezAEg+z2Vpa2NslrZW0NtAmdkUKBEXJycAcDkk1fPzJfL/AIPy7dvuPTqUIUcRUhSd4Ju17d+lm9O2v3E1FFFIAqG8/wBQf95f/QhU1Q3n+oP+8v8A6EKACz/1A/3m/wDQjU1Q2f8AqB/vN/6EamoAKKKKAM3Q9B0nRDcHS7Jbc3DBpMMzcDO1FyTtRcnai4VcnAGTWlRRSjFRVkiYxUVaKsgoooplBRRRQAVDef6g/wC8v/oQqaobz/UH/eX/ANCFABZ/6gf7zf8AoRqaqtvMkcWxw4YM2fkPqfapPtMXq/8A37b/AAoAmoqH7TF6v/37b/Cj7TF6v/37b/CgCaioftMXq/8A37b/AAo+0xer/wDftv8ACgCaioftMXq//ftv8KPtMXq//ftv8KAJqKh+0xer/wDftv8ACj7TF6v/AN+2/wAKAJqhvP8AUH/eX/0IUfaYvV/+/bf4VHcTJJFsQOWLLj5D6j2oA//Z", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 4, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 5. You are allowed to take 25 more steps.", "vlm_output": "('move', (300.4594, 339.4750))", "action": "('move', (300.4594, 339.4750))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 5, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 6. You are allowed to take 24 more steps.", "vlm_output": "('move', (363.2395, 301.7371))", "action": "('move', (363.2395, 301.7371))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 6, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 7. You are allowed to take 23 more steps.", "vlm_output": "('move', (311.9326, 237.7753))", "action": "('move', (311.9326, 237.7753))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 7, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 8. You are allowed to take 22 more steps.", "vlm_output": "('move', (247.9846, 217.4642))", "action": "('move', (247.9846, 217.4642))", "reward": 0.9378246069391212, "image_prev": "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", "image": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVy+oePPDtlrq6RJdM0iyGOedV/c27ejt9eDjIXndjBqH4myanFp0EkLlNIXf8A2k0f3wvG0t6Q/e3kcj5c/J5leNeJ7S30G4ieIrHYXBICZA+zt7Dr5Zz/AMA/3SAuMcTTVf2M01fqefXx6p1vZW+Z9J0V5r8O/F2oXWlPou20utVgVRYrdXDQLcRj7ys4RzuVQT90lhj0Zq534Na18Srzxx4jj1jQ7Zbaa9WW/M7PALaXy4V2xERnefK2kKTyFU7hnc/TKm43v09fPbTyPYw2GeIpyqRa0V94rql1afXe3ke2UUUVBzhUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRWb4o1U6JoN1qgtXuTAoPlqcDlgNzNg7UXO5mwdqhjg4xSlJRTbJlJRTk9kc38Q/iBZ+G3OmWEIv8AWZEJjhziOE8YaVh0AyDgc4x03Lnw6NLoXXkuWvN8bPIUi2raRg/M2FGIrdcj2TjqDxvweFr1tcTT9MhjmlvPmXaxUKo+913FI0z945xuH+sdsP7R4G8KWHhTSzb2xNxdzYa7u3GHnYdO52oMkKuTjJ5JLMZp1oTSnSevft5eb7rp+fmwk8Y+eL2/D/N9+35+CbNR8J6jCy3DRJFiSG4jGPKxjJHYpngg9O42H5fe/AWr2mu6GdTht4YbqWXbfeXHtDzqqqWz/F8oTBySAApOVwMXUvhppV/fCKW6lj0QMJRp0S7cN3QSZ4hIJ/dgZGcBgoCDt7eGG3gSC3iSGGNQqRooVVA6AAdBRSnOUEqi1X9fd/WxvgoVqaan/wAP/wAD+uw+iiirO0KhvP8AUH/eX/0IVNUN5/qD/vL/AOhCgAs/9QP95v8A0I1NUNn/AKgf7zf+hGpqACiiigDN0PQdJ0Q3B0uyW3NwwaTDM3AztRck7UXJ2ouFXJwBk1pUUUoxUVZImMVFWirIKKKKZQUUUUAFQ3n+oP8AvL/6EKmqG8/1B/3l/wDQhQAWf+oH+83/AKEamqrbzJHFscOGDNn5D6n2qT7TF6v/AN+2/wAKAJqKh+0xer/9+2/wo+0xer/9+2/woAmoqH7TF6v/AN+2/wAKPtMXq/8A37b/AAoAmoqH7TF6v/37b/Cj7TF6v/37b/CgCaioftMXq/8A37b/AAo+0xer/wDftv8ACgCaobz/AFB/3l/9CFH2mL1f/v23+FR3EySRbEDliy4+Q+o9qAP/2Q==", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 8, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 9. You are allowed to take 21 more steps.", "vlm_output": "('move', (184.0495, 169.1537))", "action": "('move', (184.0495, 169.1537))", "reward": 1.0, "image_prev": "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", "image": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVy3jHx34f8N6LZ6rNfW1zDeXUUEPky796mVUkddgbIQEseOSAuQWFZnxoTXW8PodPk26UA/wDagTh2Tjbk9ovvbz/u7sJvI+f9T8N6Vcajay3kawWX2mIXUqxgSQxCRfMHKk4CggAj5Twfl+64WfNfp9+2j2el/wCuoYavQWKjCvpG6u7X0uvNaWvqnp2Prm2mhubeO4t5Y5oZUDxyRsGV1IyCCOCCO9PrH8GaRoOi+Hra08OW1rDYlFYNBGq+cdoXzHKgbnIUZJ5OK2KT3Kly3913X3fq/wAwooooJCobz/UH/eX/ANCFTVDef6g/7y/+hCgAs/8AUD/eb/0I1NUNn/qB/vN/6EamoAKKKxfHOr3mheFL/VbCyF5cwIPLjY4UEsF3ueyKDuY8YVTyOtJtJXZMpKKcnsih4+8aWHhaGKDyzeapcqTb2iNjgfxuf4EB4zyT0AJrwJUvIr52RGuEl3TTLDFhLVBjLYHEcCAgZPCDaCSCNujY22r67r5ghMmp67fsXmlm+UKBwWfj93GmcYxxwoBY4Pu3gjwtY+FtMNvAxuLubDXd264aZhnHH8KDJ2qOBk9SWY2/c1j8X5f53/rz4Wp4iV1pb8P87/h+flHw/wDGMvg6c2GoB30CR/nAUl7BuhYDqY/Veq9RxkV7nBLFPBHPBIksUih0dGDKykZBBHUEd64ZvhhoreJft5lJ0n7/APZZj/d7+y7s/wCp/wCmWMds7PkrvKm9+lv66eXY6MPGcU1Lb+vw7BRRRQdAVDef6g/7y/8AoQqaobz/AFB/3l/9CFABZ/6gf7zf+hGpqhs/9QP95v8A0I1NQAUUUUAZeg+HtG0JrptJsI7Vrpw8xUkk4GFUZJ2ooztQYVcnAGTWpRRSSUVZCjFRVkrIKKKKYwooooAKhvP9Qf8AeX/0IVNUN5/qD/vL/wChCgAs/wDUD/eb/wBCNTVVt5kji2OHDBmz8h9T7VJ9pi9X/wC/bf4UATUVD9pi9X/79t/hR9pi9X/79t/hQBNRUP2mL1f/AL9t/hR9pi9X/wC/bf4UATUVD9pi9X/79t/hR9pi9X/79t/hQBNRUP2mL1f/AL9t/hR9pi9X/wC/bf4UATVDef6g/wC8v/oQo+0xer/9+2/wqO4mSSLYgcsWXHyH1HtQB//Z", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 9, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 10. You are allowed to take 20 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 10, "reward": 6.17808786487168, "terminated": true, "truncated": false, "success": true, "coverage": 0.9037272871982229}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.1163736992593, 310.7087586649242], "block_velocity": [0.0, 0.0], "block_angle": 0.900260107314014, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "587d73525f2ab66590595cd82bf4b6a66458e4c3d7b3aa91b67de12e51d64873", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}

checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank4.jsonl

@@ -0,0 +1 @@
+{"task": "pusht_ppo_1hz_success_30step_v0", "env_id": "pusht/easy", "env_kwargs": {"max_steps": 30, "success_threshold": 0.9, "init_distribution": "maniskill_like", "control_hz": 1, "easy_mode": false, "observation_width": 96, "observation_height": 96, "visualization_width": 96, "visualization_height": 96}, "seed": 2026042400, "episode_seed": 2026042592, "episode": 4, "extra_state": {"checkpoint_root": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424", "checkpoint_path": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424/latest_model.pt", "observation_kind": "pusht_ppo_lowdim", "action_control": "delta", "delta_action_scale": 64.0, "move_steps_before_stop": 9, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.578635", "history": [{"step": 0, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 1. You are allowed to take 29 more steps.", "vlm_output": "('move', (172.4582, 422.4000))", "action": "('move', (172.4582, 422.4000))", "reward": 0.16028828401339595, "image_prev": null, "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 1, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 2. You are allowed to take 28 more steps.", "vlm_output": "('move', (200.8260, 358.4649))", "action": "('move', (200.8260, 358.4649))", "reward": 0.4377885993843352, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 2, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 3. You are allowed to take 27 more steps.", "vlm_output": "('move', (215.3305, 314.1745))", "action": "('move', (215.3305, 314.1745))", "reward": 0.4599751448074442, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 3, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 4. You are allowed to take 26 more steps.", "vlm_output": "('move', (261.0997, 305.8404))", "action": "('move', (261.0997, 305.8404))", "reward": 0.5678335597976695, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 4, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 5. You are allowed to take 25 more steps.", "vlm_output": "('move', (300.4594, 339.4750))", "action": "('move', (300.4594, 339.4750))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVy+oePPDtlrq6RJdM0iyGOedV/c27ejt9eDjIXndjBqH4myanFp0EkLlNIXf8A2k0f3wvG0t6Q/e3kcj5c/J5leNeJ7S30G4ieIrHYXBICZA+zt7Dr5Zz/AMA/3SAuMcTTVf2M01fqefXx6p1vZW+Z9J0V598J/FZvoBoWpzqbqFQLR24aaMDlT6soH1I552sa9BronFxdmd0ZKSugoooqSgqG8/1B/wB5f/QhU1Q3n+oP+8v/AKEKACz/ANQP95v/AEI1NUNn/qB/vN/6EamoAKKKzfFGqnRNButUFq9yYFB8tTgcsBuZsHai53M2DtUMcHGKUpKKbZMpKKcnsjm/iH8QLPw250ywhF/rMiExw5xHCeMNKw6AZBwOcY6blz4dGl0LryXLXm+NnkKRbVtIwfmbCjEVuuR7Jx1B434PC162uJp+mQxzS3nzLtYqFUfe67ikaZ+8c43D/WO2H9o8DeFLDwppZt7Ym4u5sNd3bjDzsOnc7UGSFXJxk8klmM060JpTpPXv28vN910/PzYSeMfPF7fh/m+/b8/BNmo+E9RhZbhokixJDcRjHlYxkjsUzwQencbD8vv/AII19PEfh+K/ACzqxiuFVSFEi4zjOeDkEcnGcE5BrgviRofg3w7B9q8Qax9l0Td5sGjxOkcszhgrRxsWBMOHGYwBtzwyoAo6P4ReOtB8X+GLBbG6sIdTitV+16dCVRoGUKGKx5JEeWGDyBkA85AKdSbglUtfb+vvX/DHoYHL8ZGhKtOD5V1tp11Xlp8vuO2oooqzQKhvP9Qf95f/AEIVNUN5/qD/ALy/+hCgAs/9QP8Aeb/0I1NUNn/qB/vN/wChGpqACiiigDN0PQdJ0Q3B0uyW3NwwaTDM3AztRck7UXJ2ouFXJwBk1pUUUoxUVZImMVFWirIo69pOn67pU2l6pAZ7Obb5kYkZM7WDDlSCOQDwao+A/DNj4R8K2OhWKoRbxKJplTabiUKA0hBJOTjpk4GAOAK3KKvnly8t3bt06dPkjRSai497fhe35sKKKKkkKhvP9Qf95f8A0IVNUN5/qD/vL/6EKACz/wBQP95v/QjU1VbeZI4tjhwwZs/IfU+1SfaYvV/+/bf4UATUVD9pi9X/AO/bf4UfaYvV/wDv23+FAE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATUVD9pi9X/AO/bf4UfaYvV/wDv23+FAE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATVDef6g/7y/wDoQo+0xer/APftv8KjuJkki2IHLFlx8h9R7UAf/9k=", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 5, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 6. You are allowed to take 24 more steps.", "vlm_output": "('move', (363.2395, 301.7371))", "action": "('move', (363.2395, 301.7371))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 6, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 7. You are allowed to take 23 more steps.", "vlm_output": "('move', (311.9326, 237.7753))", "action": "('move', (311.9326, 237.7753))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 7, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 8. You are allowed to take 22 more steps.", "vlm_output": "('move', (247.9846, 217.4642))", "action": "('move', (247.9846, 217.4642))", "reward": 0.9378246069391212, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 8, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 9. You are allowed to take 21 more steps.", "vlm_output": "('move', (184.0495, 169.1537))", "action": "('move', (184.0495, 169.1537))", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 9, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 10. You are allowed to take 20 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": "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", "image": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFVtT1Cw0uxkvtTvbaytIseZPcSrHGmSAMsxAGSQPqaTdtWVGMpyUYq7ZZorznwN8XfC3ibxHqmkjU7W3KXax6WZmEf2yMpGPly3LmQthcAlSvGQ2PRqfVo2xGFq4dpVYtXSevmr/qFFFFBzhRRRQAVDef6g/7y/8AoQqaobz/AFB/3l/9CFABZ/6gf7zf+hGpqhs/9QP95v8A0I1NQAUUUUAcl4N8BeHvCWr6rqum26xPePlPmfEEPlxAx/MxBBeMvnA+8B0UV1kbpIiujKyMAVZTkEeorgPjhHrT+HYWs9x0hCzaoI/v7ONpPrEPm34/2SflD1ynw/8AHkvh4W+mao4l0L7sc3V7IdvrEPzQHj5QAtylOpecnfvd3eut/QxqYr95aS2SX3JJfKytf/hz2uimxSJLEksTq8bqGVlOQwPQg9xTqg2CiiigAqG8/wBQf95f/QhU1Q3n+oP+8v8A6EKACz/1A/3m/wDQjU1Q2f8AqB/vN/6EamoAKKKyvF2sf8I/4bvdY+xzXn2WPd5UfU5IGScHagzlmwcKCcHGKTdldilJRTbK3jXxRZeGNNE848+7mytraq2GmYYySedqDI3NjjIABYqp+dj9ptryZ44DLbSeZcyxWsB22a53MyqudkC5A5PyfLyc8bobWvFniIFSNQ1W95BB2xRxj8/LhTd7nLfxO/ze2eCfC9l4X00wQN9ou5sNd3bLhpmHQAc7UGTtXPGScklmOmtN3Xxfl/nf+vPhaliJXWlv6+bf4fn5R4A8bzeFHisr9jP4dY9QCz2Of4lx1i9V6r1HHFe6jkZFef8A/CqtC/4Sb7f5h/sjPm/2R5Y8rzc+uf8AVd/KxjPGdnyV6BUNpvRWX9fgb4eM4pqW3T+u3YKKKKDoCobz/UH/AHl/9CFTVDef6g/7y/8AoQoALP8A1A/3m/8AQjU1Q2f+oH+83/oRqagAooooAyvD3hzRPD/2r+x9Ois/tUnmTbMnJ5woyTtUZOEGFGTgDJrVoopJJaIUYqKskFFFFMYUUUUAFQ3n+oP+8v8A6EKmqG8/1B/3l/8AQhQAWf8AqB/vN/6EamqrbzJHFscOGDNn5D6n2qT7TF6v/wB+2/woAmoqH7TF6v8A9+2/wo+0xer/APftv8KAJqKh+0xer/8Aftv8KPtMXq//AH7b/CgCaioftMXq/wD37b/Cj7TF6v8A9+2/woAmoqH7TF6v/wB+2/wo+0xer/8Aftv8KAJqhvP9Qf8AeX/0IUfaYvV/+/bf4VHcTJJFsQOWLLj5D6j2oA//2Q==", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 10, "reward": 6.17808786487168, "terminated": true, "truncated": false, "success": true, "coverage": 0.9037272871982229}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.1163736992593, 310.7087586649242], "block_velocity": [0.0, 0.0], "block_angle": 0.900260107314014, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "587d73525f2ab66590595cd82bf4b6a66458e4c3d7b3aa91b67de12e51d64873", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}

checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank4.jsonl

@@ -0,0 +1 @@
+{"task": "pusht_ppo_1hz_success_30step_v0", "env_id": "pusht/easy", "env_kwargs": {"max_steps": 30, "success_threshold": 0.9, "init_distribution": "maniskill_like", "control_hz": 1, "easy_mode": false, "observation_width": 96, "observation_height": 96, "visualization_width": 96, "visualization_height": 96}, "seed": 2026042400, "episode_seed": 2026042592, "episode": 4, "extra_state": {"checkpoint_root": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424", "checkpoint_path": "/home/raychai/VisGym_3d/visgym_training/ppo_pusht/runs/pusht_ppo_cpu256_20m_1hz_msinit_delta64_rawms_noclipvloss_finalboot_resume5m_20260424/latest_model.pt", "observation_kind": "pusht_ppo_lowdim", "action_control": "delta", "delta_action_scale": 64.0, "move_steps_before_stop": 9, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.578635", "history": [{"step": 0, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 1. You are allowed to take 29 more steps.", "vlm_output": "('move', (172.4582, 422.4000))", "action": "('move', (172.4582, 422.4000))", "reward": 0.16028828401339595, "image_prev": null, "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 1, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 2. You are allowed to take 28 more steps.", "vlm_output": "('move', (200.8260, 358.4649))", "action": "('move', (200.8260, 358.4649))", "reward": 0.4377885993843352, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 2, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 3. You are allowed to take 27 more steps.", "vlm_output": "('move', (215.3305, 314.1745))", "action": "('move', (215.3305, 314.1745))", "reward": 0.4599751448074442, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 3, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 4. You are allowed to take 26 more steps.", "vlm_output": "('move', (261.0997, 305.8404))", "action": "('move', (261.0997, 305.8404))", "reward": 0.5678335597976695, "image_prev": "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", "image": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAUVxXxd/tn/AIR8ixmMOnGOUX0kZw6ZUCMse0IO7eRyPlJ+TzK8t8A62+i+KtIvL3UbhdHVfIJmnJFtGyFVXk4EQbYcdF256D5VF8zku39fcc0sSo1HBrbr6/ofQ9FFFM6QooooAKhvP9Qf95f/AEIVNUN5/qD/ALy/+hCgAs/9QP8Aeb/0I1NUNn/qB/vN/wChGpqACuA1f4oaZbSTQ2Gm3l1NG+3MuIIzg4PXLgjngoOR2rv68v8AGfgawsIdZ8Q3F5qFxG8pnS3twiFGkf5i7srYjBbcW2/IgJ+bFXGVOKbnsjKtJxjzLoYmufFPxFJvhsILK0ab/UqqmSVMYyS7fLj1JTocAE4z5np9/wDZrOKWO5E8cmZYXWML5RHzqwUfdjGV6/c4B4Py9VrXgmXULVNP0ee4l1m65KqV2yqHUsTvDeXGgJAwR94KSzON2Jpfg7V/CGmaXca3OYzqdmkkdu4CmIgLmNgVDB13Djplj1IJqMNXp4n3qatq1r2089b9V06efPRpwxeElifaK6aSWuz5r/Zs27L7Vkt9T17wb4lj0WCG3upd2gyKDBMf+XEEcA5/5Yf+i/8Arn/q/Sq8w+H3ghp9FsX1eS4SxUOH0u4t2ViVdlVWZjkxFQreWRyTjOz93Xp9cuFp1aacKnTb0JwEK9ODjV2W3oFFFFdR3hUN5/qD/vL/AOhCpqhvP9Qf95f/AEIUAFn/AKgf7zf+hGpqhs/9QP8Aeb/0I1NQAUUUUAZuh6DpOiG4Ol2S25uGDSYZm4GdqLknai5O1Fwq5OAMmtKiilGKirJExioq0VZBRRRTKCiiigAqG8/1B/3l/wDQhU1Q3n+oP+8v/oQoALP/AFA/3m/9CNTVVt5kji2OHDBmz8h9T7VJ9pi9X/79t/hQBNRUP2mL1f8A79t/hR9pi9X/AO/bf4UATUVD9pi9X/79t/hR9pi9X/79t/hQBNRUP2mL1f8A79t/hR9pi9X/AO/bf4UATUVD9pi9X/79t/hR9pi9X/79t/hQBNUN5/qD/vL/AOhCj7TF6v8A9+2/wqO4mSSLYgcsWXHyH1HtQB//2Q==", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 4, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 5. You are allowed to take 25 more steps.", "vlm_output": "('move', (300.4594, 339.4750))", "action": "('move', (300.4594, 339.4750))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 5, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 6. You are allowed to take 24 more steps.", "vlm_output": "('move', (363.2395, 301.7371))", "action": "('move', (363.2395, 301.7371))", "reward": 0.538125889976571, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 6, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 7. You are allowed to take 23 more steps.", "vlm_output": "('move', (311.9326, 237.7753))", "action": "('move', (311.9326, 237.7753))", "reward": 0.538125889976571, "image_prev": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVy+oePPDtlrq6RJdM0iyGOedV/c27ejt9eDjIXndjBqH4myanFp0EkLlNIXf8A2k0f3wvG0t6Q/e3kcj5c/J5leNeJ7S30G4ieIrHYXBICZA+zt7Dr5Zz/AMA/3SAuMcTTVf2M01fqefXx6p1vZW+Z9J0V598J/FZvoBoWpzqbqFQLR24aaMDlT6soH1I552sa9BronFxdmd0ZKSugoooqSgqG8/1B/wB5f/QhU1Q3n+oP+8v/AKEKACz/ANQP95v/AEI1NUNn/qB/vN/6EamoAKKKzfFGqnRNButUFq9yYFB8tTgcsBuZsHai53M2DtUMcHGKUpKKbZMpKKcnsjm/iH8QLPw250ywhF/rMiExw5xHCeMNKw6AZBwOcY6blz4dGl0LryXLXm+NnkKRbVtIwfmbCjEVuuR7Jx1B434PC162uJp+mQxzS3nzLtYqFUfe67ikaZ+8c43D/WO2H9o8DeFLDwppZt7Ym4u5sNd3bjDzsOnc7UGSFXJxk8klmM060JpTpPXv28vN910/PzYSeMfPF7fh/m+/b8/BNmo+E9RhZbhokixJDcRjHlYxkjsUzwQencbD8vv/AII19PEfh+K/ACzqxiuFVSFEi4zjOeDkEcnGcE5BrgviRofg3w7B9q8Qax9l0Td5sGjxOkcszhgrRxsWBMOHGYwBtzwyoAo6P4ReOtB8X+GLBbG6sIdTitV+16dCVRoGUKGKx5JEeWGDyBkA85AKdSbglUtfb+vvX/DHoYHL8ZGhKtOD5V1tp11Xlp8vuO2oooqzQKhvP9Qf95f/AEIVNUN5/qD/ALy/+hCgAs/9QP8Aeb/0I1NUNn/qB/vN/wChGpqACiiigDN0PQdJ0Q3B0uyW3NwwaTDM3AztRck7UXJ2ouFXJwBk1pUUUoxUVZImMVFWirIo69pOn67pU2l6pAZ7Obb5kYkZM7WDDlSCOQDwao+A/DNj4R8K2OhWKoRbxKJplTabiUKA0hBJOTjpk4GAOAK3KKvnly8t3bt06dPkjRSai497fhe35sKKKKkkKhvP9Qf95f8A0IVNUN5/qD/vL/6EKACz/wBQP95v/QjU1VbeZI4tjhwwZs/IfU+1SfaYvV/+/bf4UATUVD9pi9X/AO/bf4UfaYvV/wDv23+FAE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATUVD9pi9X/AO/bf4UfaYvV/wDv23+FAE1FQ/aYvV/+/bf4UfaYvV/+/bf4UATVDef6g/7y/wDoQo+0xer/APftv8KjuJkki2IHLFlx8h9R7UAf/9k=", "image": "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", "image_next": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAUDBAQEAwUEBAQFBQUGBwwIBwcHBw8LCwkMEQ8SEhEPERETFhwXExQaFRERGCEYGh0dHx8fExciJCIeJBweHx7/2wBDAQUFBQcGBw4ICA4eFBEUHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh4eHh7/wAARCABgAGADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwD7Bt4Uki3uXLFmz859T71J9mi9H/7+N/jRZ/6gf7zf+hGpqAIfs0Xo/wD38b/Gj7NF6P8A9/G/xqaigCH7NF6P/wB/G/xo+zRej/8Afxv8amooAh+zRej/APfxv8aPs0Xo/wD38b/GpqKAIfs0Xo//AH8b/Gj7NF6P/wB/G/xqaigCH7NF6P8A9/G/xqO4hSOLehcMGXHzn1HvVqobz/UH/eX/ANCFABZ/6gf7zf8AoRqaobP/AFA/3m/9CNTUAFFFFABRRRQAUUUUAFFFFABUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRRQAVy+oePPDtlrq6RJdM0iyGOedV/c27ejt9eDjIXndjBqH4myanFp0EkLlNIXf8A2k0f3wvG0t6Q/e3kcj5c/J5leNeJ7S30G4ieIrHYXBICZA+zt7Dr5Zz/AMA/3SAuMcTTVf2M01fqefXx6p1vZW+Z9J0V5r8O/F2oXWlPou20utVgVRYrdXDQLcRj7ys4RzuVQT90lhj0Zq534Na18Srzxx4jj1jQ7Zbaa9WW/M7PALaXy4V2xERnefK2kKTyFU7hnc/TKm43v09fPbTyPYw2GeIpyqRa0V94rql1afXe3ke2UUUVBzhUN5/qD/vL/wChCpqhvP8AUH/eX/0IUAFn/qB/vN/6EamqGz/1A/3m/wDQjU1ABRRWb4o1U6JoN1qgtXuTAoPlqcDlgNzNg7UXO5mwdqhjg4xSlJRTbJlJRTk9kc38Q/iBZ+G3OmWEIv8AWZEJjhziOE8YaVh0AyDgc4x03Lnw6NLoXXkuWvN8bPIUi2raRg/M2FGIrdcj2TjqDxvweFr1tcTT9MhjmlvPmXaxUKo+913FI0z945xuH+sdsP7R4G8KWHhTSzb2xNxdzYa7u3GHnYdO52oMkKuTjJ5JLMZp1oTSnSevft5eb7rp+fmwk8Y+eL2/D/N9+35+CbNR8J6jCy3DRJFiSG4jGPKxjJHYpngg9O42H5fe/AWr2mu6GdTht4YbqWXbfeXHtDzqqqWz/F8oTBySAApOVwMXUvhppV/fCKW6lj0QMJRp0S7cN3QSZ4hIJ/dgZGcBgoCDt7eGG3gSC3iSGGNQqRooVVA6AAdBRSnOUEqi1X9fd/WxvgoVqaan/wAP/wAD+uw+iiirO0KhvP8AUH/eX/0IVNUN5/qD/vL/AOhCgAs/9QP95v8A0I1NUNn/AKgf7zf+hGpqACiiigDN0PQdJ0Q3B0uyW3NwwaTDM3AztRck7UXJ2ouFXJwBk1pUUUoxUVZImMVFWirIKKKKZQUUUUAFQ3n+oP8AvL/6EKmqG8/1B/3l/wDQhQAWf+oH+83/AKEamqrbzJHFscOGDNn5D6n2qT7TF6v/AN+2/wAKAJqKh+0xer/9+2/wo+0xer/9+2/woAmoqH7TF6v/AN+2/wAKPtMXq/8A37b/AAoAmoqH7TF6v/37b/Cj7TF6v/37b/CgCaioftMXq/8A37b/AAo+0xer/wDftv8ACgCaobz/AFB/3l/9CFH2mL1f/v23+FR3EySRbEDliy4+Q+o9qAP/2Q==", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 7, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 8. You are allowed to take 22 more steps.", "vlm_output": "('move', (247.9846, 217.4642))", "action": "('move', (247.9846, 217.4642))", "reward": 0.9378246069391212, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 8, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 9. You are allowed to take 21 more steps.", "vlm_output": "('move', (184.0495, 169.1537))", "action": "('move', (184.0495, 169.1537))", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 9, "prompt": "You are controlling a 2D PushT environment from a top-down image.\n\nVisual elements:\n- The blue circle is the controllable pusher/agent. It moves through the plane and physically pushes the object.\n- The gray T-shaped block is the object that must be moved.\n- The green T-shaped outline/region is the target pose. The task is to push the gray T so it overlaps the green T.\n- The red cross marks the target coordinate commanded by the current or previous move action; it is not an object, only a visual marker for where the pusher is trying to go.\n\nEnvironment dynamics:\n- Each action is one low-level move target in image coordinates. The blue pusher follows that target for one control step and can push the gray T through contact.\n- The policy runs at 1 Hz, so one listed action corresponds to one environment control step; physics internally advances many small substeps.\n- Success means the gray T covers enough of the green target T.\n\nAvailable actions:\n1. `move`: Move the blue pusher toward a target coordinate. Format: `('move', (x, y))`, where x and y are coordinates in the 512x512 world/image coordinate system.\n2. `stop`: End the episode. Format: `('stop', 'stop')`.\n\nThis is step 10. You are allowed to take 20 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": "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", "image": "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", "image_next": "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", "info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 10, "reward": 6.17808786487168, "terminated": true, "truncated": false, "success": true, "coverage": 0.9037272871982229}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.1163736992593, 310.7087586649242], "block_velocity": [0.0, 0.0], "block_angle": 0.900260107314014, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "587d73525f2ab66590595cd82bf4b6a66458e4c3d7b3aa91b67de12e51d64873", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}