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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step0_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1000_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step1500_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2000_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step2500_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3000_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step3500_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4000_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step4500_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step5000_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank0.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank0.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank0.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 29, "reward": 19.10494796336358, "terminated": true, "truncated": false, "success": true, "coverage": 0.9126953931964986}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [196.75252589329313, 393.538648676115], "block_velocity": [0.0, 0.0], "block_angle": -3.0138481432454665, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "65607a4e1cd9aa3576d4f6a510e96dbc88485d3dd4cfb4fbd10c5f519996146a", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank1.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank1.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..409ce811a6c8e52b8b366664bc7aa6fbb8a8c207
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank1.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": 2026042464, "episode": 1, "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": 13, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.687245", "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', (211.3074, 436.7401))", "action": "('move', (211.3074, 436.7401))", "reward": 0.02772453898819301, "image_prev": null, "image": 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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', (240.5956, 372.7905))", "action": "('move', (240.5956, 372.7905))", "reward": 0.06622105180945904, "image_prev": 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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', (270.7384, 436.8554))", "action": "('move', (270.7384, 436.8554))", "reward": 0.06622142090871111, "image_prev": 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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', (322.7491, 372.7905))", "action": "('move', (322.7491, 372.7905))", "reward": 0.06622142090871111, "image_prev": 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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', (315.1581, 328.2415))", "action": "('move', (315.1581, 328.2415))", "reward": 0.06622142090871111, "image_prev": 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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', (251.1658, 328.4916))", "action": "('move', (251.1658, 328.4916))", "reward": 0.2694239112354466, "image_prev": 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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', (246.5758, 304.9702))", "action": "('move', (246.5758, 304.9702))", "reward": 0.35864863455749757, "image_prev": 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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', (273.8523, 319.1982))", "action": "('move', (273.8523, 319.1982))", "reward": 0.3586329300139804, "image_prev": 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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', (308.6457, 321.6903))", "action": "('move', (308.6457, 321.6903))", "reward": 0.3583075166163158, "image_prev": 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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": "('move', (353.5020, 290.2849))", "action": "('move', (353.5020, 290.2849))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (316.8992, 228.4205))", "action": "('move', (316.8992, 228.4205))", "reward": 0.3455096822980681, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (252.9363, 224.9488))", "action": "('move', (252.9363, 224.9488))", "reward": 0.994297146640899, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (189.0012, 172.8268))", "action": "('move', (189.0012, 172.8268))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 14, "reward": 5.322939357184061, "terminated": true, "truncated": false, "success": true, "coverage": 0.965562574177279}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [260.81651652062607, 352.0286146962399], "block_velocity": [0.0, 0.0], "block_angle": 0.511864463903509, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "3ad759236d11ee9159154a5612a0cdc2eef5fe29bc5a266785d7afd22d820acd", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank2.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank2.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6af8fa39645b26014cfdca9b45792bafab11d
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank2.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": 2026042528, "episode": 2, "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": 20, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.221923", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.29633338977109136, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.3206213984033641, "image_prev": 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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', (332.6321, 294.5298))", "action": "('move', (332.6321, 294.5298))", "reward": 0.3062456844197334, "image_prev": 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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', (321.7753, 230.5946))", "action": "('move', (321.7753, 230.5946))", "reward": 0.20400725289175067, "image_prev": 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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', (272.7018, 166.6595))", "action": "('move', (272.7018, 166.6595))", "reward": 0.15955649291298876, "image_prev": 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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', (208.7516, 119.0305))", "action": "('move', (208.7516, 119.0305))", "reward": 0.1364986517752022, "image_prev": 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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', (144.8165, 141.5712))", "action": "('move', (144.8165, 141.5712))", "reward": 0.07674079675577551, "image_prev": 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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', (137.3333, 144.8958))", "action": "('move', (137.3333, 144.8958))", "reward": 0.06871452183475898, "image_prev": 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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', (127.3084, 147.4389))", "action": "('move', (127.3084, 147.4389))", "reward": 0.0592329702698627, "image_prev": 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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": "('move', (119.4793, 167.0688))", "action": "('move', (119.4793, 167.0688))", "reward": 0.0307684832521853, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (67.1029, 155.2684))", "action": "('move', (67.1029, 155.2684))", "reward": 0.028462174767401732, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (108.4703, 184.4480))", "action": "('move', (108.4703, 184.4480))", "reward": 0.12933953898542525, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (166.0366, 222.0339))", "action": "('move', (166.0366, 222.0339))", "reward": 0.45656356100839357, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (141.3525, 274.7198))", "action": "('move', (141.3525, 274.7198))", "reward": 0.45659613257264803, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (160.9882, 283.5726))", "action": "('move', (160.9882, 283.5726))", "reward": 0.6010685391265718, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (178.4038, 275.9252))", "action": "('move', (178.4038, 275.9252))", "reward": 0.6864163775630339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (195.8726, 252.5514))", "action": "('move', (195.8726, 252.5514))", "reward": 0.7765179233090472, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (169.8908, 244.6095))", "action": "('move', (169.8908, 244.6095))", "reward": 0.7765090551337154, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (163.8588, 293.6699))", "action": "('move', (163.8588, 293.6699))", "reward": 0.9316792756412339, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (153.2671, 309.8557))", "action": "('move', (153.2671, 309.8557))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 21, "reward": 8.501872220394183, "terminated": true, "truncated": false, "success": true, "coverage": 0.9136178064712746}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [203.2085746981964, 354.4377456659292], "block_velocity": [0.0, 0.0], "block_angle": -2.167814004352277, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "be9af409c32d2b659170a9def23a3dd7ae7fe6b3f2aa1b3b7292c654380c4375", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank3.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank3.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90da1d53d6eeb14e38fda80a97404670b6fcf57c
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank3.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": 2026042560, "episode": 3, "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": 11, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:25.419806", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.4254026455355003, "image_prev": null, "image": 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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', (284.9351, 358.4649))", "action": "('move', (284.9351, 358.4649))", "reward": 0.42649587551261553, "image_prev": 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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', (324.2066, 294.5298))", "action": "('move', (324.2066, 294.5298))", "reward": 0.17962974518645905, "image_prev": 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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', (345.7687, 239.1443))", "action": "('move', (345.7687, 239.1443))", "reward": 0.17175970822289588, "image_prev": 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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', (281.7468, 209.2261))", "action": "('move', (281.7468, 209.2261))", "reward": 0.23784865507641337, "image_prev": 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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', (217.8117, 189.6478))", "action": "('move', (217.8117, 189.6478))", "reward": 0.4843643614078616, "image_prev": 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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', (159.8563, 163.5246))", "action": "('move', (159.8563, 163.5246))", "reward": 0.5273619745079869, "image_prev": 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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', (173.1143, 213.0691))", "action": "('move', (173.1143, 213.0691))", "reward": 0.7550681274556039, "image_prev": 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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', (175.0389, 266.0579))", "action": "('move', (175.0389, 266.0579))", "reward": 0.7734497627772717, "image_prev": 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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": "('move', (178.3108, 281.2075))", "action": "('move', (178.3108, 281.2075))", "reward": 0.9513095057353278, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (171.4108, 292.8284))", "action": "('move', (171.4108, 292.8284))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 12, "reward": 6.9326903614179365, "terminated": true, "truncated": false, "success": true, "coverage": 0.909431871371413}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [301.86897273217176, 292.4740228839378], "block_velocity": [0.0, 0.0], "block_angle": 1.68748022153423, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "7e66f3c1af43c16f3f0ae97eef81f43002887569ada02a1d61d683f17d605a9b", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank4.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank4.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759045b27281c9460144e27790f07b0435685c2
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"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"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank5.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank5.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b24fefe151d0c836474d04afef30d903f7be9ba
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank5.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": 2026042752, "episode": 5, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:26.540940", "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', (221.0000, 512.0000))", "action": "('move', (221.0000, 512.0000))", "reward": 0.0, "image_prev": null, "image": 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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', (284.9351, 464.7414))", "action": "('move', (284.9351, 464.7414))", "reward": 0.0, "image_prev": 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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', (277.5661, 400.7893))", "action": "('move', (277.5661, 400.7893))", "reward": 0.06575713589608054, "image_prev": 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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', (264.0196, 340.0964))", "action": "('move', (264.0196, 340.0964))", "reward": 0.3840082004871679, "image_prev": 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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', (242.5905, 276.1580))", "action": "('move', (242.5905, 276.1580))", "reward": 0.2511464204855904, "image_prev": 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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', (261.5184, 313.8783))", "action": "('move', (261.5184, 313.8783))", "reward": 0.2511073091715063, "image_prev": 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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', (325.4992, 333.1815))", "action": "('move', (325.4992, 333.1815))", "reward": 0.2511073091715063, "image_prev": 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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', (370.6488, 270.3516))", "action": "('move', (370.6488, 270.3516))", "reward": 0.2511073091715063, "image_prev": 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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', (306.6030, 213.6744))", "action": "('move', (306.6030, 213.6744))", "reward": 0.2511073091715063, "image_prev": 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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": "('move', (242.6679, 210.6930))", "action": "('move', (242.6679, 210.6930))", "reward": 0.4632134533137774, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (178.7328, 147.2798))", "action": "('move', (178.7328, 147.2798))", "reward": 0.4805159373228012, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (182.1253, 211.3441))", "action": "('move', (182.1253, 211.3441))", "reward": 0.6922340110562586, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (142.6946, 265.5891))", "action": "('move', (142.6946, 265.5891))", "reward": 0.6922468153473702, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (166.7637, 297.7539))", "action": "('move', (166.7637, 297.7539))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 6.033551210595071, "terminated": true, "truncated": false, "success": true, "coverage": 0.9082519396745925}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [323.5014148914816, 358.27492344098164], "block_velocity": [0.0, 0.0], "block_angle": 0.7243739521559016, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "173ee8cf6b1624a7733b0fce276d186a0913ba3710d4d8779d43162facffb214", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank6.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank6.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a621f7c9f34dab8a0e8171c9145840b3bcace044
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank6.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": 2026042848, "episode": 6, "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": 14, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:27.148034", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.5021702318895649, "image_prev": null, "image": 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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', (230.7869, 358.4649))", "action": "('move', (230.7869, 358.4649))", "reward": 0.5478807828732631, "image_prev": 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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', (259.7360, 294.5298))", "action": "('move', (259.7360, 294.5298))", "reward": 0.4134306849253394, "image_prev": 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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', (266.6756, 230.5946))", "action": "('move', (266.6756, 230.5946))", "reward": 0.17313078275428842, "image_prev": 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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', (220.2334, 166.6595))", "action": "('move', (220.2334, 166.6595))", "reward": 0.0, "image_prev": 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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', (156.2805, 102.7244))", "action": "('move', (156.2805, 102.7244))", "reward": 0.0, "image_prev": 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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', (92.3454, 149.1179))", "action": "('move', (92.3454, 149.1179))", "reward": 0.0, "image_prev": 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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', (103.6382, 213.0709))", "action": "('move', (103.6382, 213.0709))", "reward": 0.0006234446172379089, "image_prev": 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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', (152.8715, 277.0060))", "action": "('move', (152.8715, 277.0060))", "reward": 0.24848840853903348, "image_prev": 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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": "('move', (192.3696, 245.1175))", "action": "('move', (192.3696, 245.1175))", "reward": 0.5324720144201852, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (181.0550, 270.7683))", "action": "('move', (181.0550, 270.7683))", "reward": 0.8044815255152272, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (179.4652, 276.3795))", "action": "('move', (179.4652, 276.3795))", "reward": 0.8785073957494336, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (173.3293, 286.3400))", "action": "('move', (173.3293, 286.3400))", "reward": 0.9554038313543156, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (160.3241, 303.1981))", "action": "('move', (160.3241, 303.1981))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}], "stats": {"step": 15, "reward": 7.05658910263789, "terminated": true, "truncated": false, "success": true, "coverage": 0.9236651599007534}, "init_state": {"agent_position": [157.0, 486.4], "agent_velocity": [0.0, 0.0], "block_position": [178.72343009876113, 361.0976267941687], "block_velocity": [0.0, 0.0], "block_angle": -2.603225484731829, "block_angvel": 0.0, "goal_pose": [256.0, 256.0, 0.7853981633974483], "episode_step": 0}, "init_state_hash": "cbe39e02b96b52ea56772aa47d13e1cff5abb05c17a11d47471a8bd819d2554e", "solve_kwargs": {"strategy": "ppo", "checkpoint": "latest_model.pt", "max_total_steps": 30}, "version": "visgym_pusht_ppo_success_30step_parallel_v1"}
diff --git a/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank7.jsonl b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank7.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c824a05926d4fc52a4e5a24439cf447fdb07656
--- /dev/null
+++ b/checkpoints_pusht_v0_ce_no_mse/eval_used_rows/eval_manifest_pusht_v0_ce_no_mse_step500_rank7.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": 2026042432, "episode": 0, "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": 28, "image_size": 96, "jpeg_quality": 85}, "timestamp": "2026-04-24T19:55:24.462172", "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', (221.0000, 422.4000))", "action": "('move', (221.0000, 422.4000))", "reward": 0.24530159870554397, "image_prev": null, "image": 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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', (252.5606, 358.4649))", "action": "('move', (252.5606, 358.4649))", "reward": 0.23365600453515437, "image_prev": 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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', (242.2248, 294.5298))", "action": "('move', (242.2248, 294.5298))", "reward": 0.3786807502015782, "image_prev": 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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', (221.3439, 230.5946))", "action": "('move', (221.3439, 230.5946))", "reward": 0.027054266625488373, "image_prev": 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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', (168.5909, 166.6595))", "action": "('move', (168.5909, 166.6595))", "reward": 0.0, "image_prev": 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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', (104.6444, 169.6884))", "action": "('move', (104.6444, 169.6884))", "reward": 0.0, "image_prev": 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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', (40.7093, 233.6854))", "action": "('move', (40.7093, 233.6854))", "reward": 0.0, "image_prev": 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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', (86.9185, 297.6205))", "action": "('move', (86.9185, 297.6205))", "reward": 0.05951533377775983, "image_prev": 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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', (150.8717, 280.4269))", "action": "('move', (150.8717, 280.4269))", "reward": 0.19799747111370952, "image_prev": 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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": "('move', (198.7879, 238.5805))", "action": "('move', (198.7879, 238.5805))", "reward": 0.4930057977520648, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 10, "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 11. You are allowed to take 19 more steps.", "vlm_output": "('move', (158.8876, 259.8220))", "action": "('move', (158.8876, 259.8220))", "reward": 0.49299018768252106, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 11, "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 12. You are allowed to take 18 more steps.", "vlm_output": "('move', (162.0376, 285.0816))", "action": "('move', (162.0376, 285.0816))", "reward": 0.7853711403864175, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 12, "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 13. You are allowed to take 17 more steps.", "vlm_output": "('move', (158.5161, 295.4183))", "action": "('move', (158.5161, 295.4183))", "reward": 0.8794139540536692, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 13, "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 14. You are allowed to take 16 more steps.", "vlm_output": "('move', (149.1170, 312.1830))", "action": "('move', (149.1170, 312.1830))", "reward": 0.9480023740986745, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 14, "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 15. You are allowed to take 15 more steps.", "vlm_output": "('move', (129.2256, 338.2558))", "action": "('move', (129.2256, 338.2558))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 15, "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 16. You are allowed to take 14 more steps.", "vlm_output": "('move', (151.5968, 386.9846))", "action": "('move', (151.5968, 386.9846))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 16, "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 17. You are allowed to take 13 more steps.", "vlm_output": "('move', (209.7938, 374.8698))", "action": "('move', (209.7938, 374.8698))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 17, "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 18. You are allowed to take 12 more steps.", "vlm_output": "('move', (212.4265, 342.0608))", "action": "('move', (212.4265, 342.0608))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 18, "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 19. You are allowed to take 11 more steps.", "vlm_output": "('move', (217.0424, 339.0783))", "action": "('move', (217.0424, 339.0783))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 19, "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 20. You are allowed to take 10 more steps.", "vlm_output": "('move', (221.4858, 336.0114))", "action": "('move', (221.4858, 336.0114))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 20, "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 21. You are allowed to take 9 more steps.", "vlm_output": "('move', (226.9325, 331.6886))", "action": "('move', (226.9325, 331.6886))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 21, "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 22. You are allowed to take 8 more steps.", "vlm_output": "('move', (237.1877, 328.3057))", "action": "('move', (237.1877, 328.3057))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 22, "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 23. You are allowed to take 7 more steps.", "vlm_output": "('move', (268.0380, 332.6807))", "action": "('move', (268.0380, 332.6807))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 23, "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 24. You are allowed to take 6 more steps.", "vlm_output": "('move', (329.6272, 338.9161))", "action": "('move', (329.6272, 338.9161))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 24, "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 25. You are allowed to take 5 more steps.", "vlm_output": "('move', (360.5959, 285.9023))", "action": "('move', (360.5959, 285.9023))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 25, "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 26. You are allowed to take 4 more steps.", "vlm_output": "('move', (296.5645, 241.2774))", "action": "('move', (296.5645, 241.2774))", "reward": 0.9500528230679459, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 26, "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 27. You are allowed to take 3 more steps.", "vlm_output": "('move', (232.6294, 206.5957))", "action": "('move', (232.6294, 206.5957))", "reward": 0.9633252076156469, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 27, "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 28. You are allowed to take 2 more steps.", "vlm_output": "('move', (168.6943, 171.9731))", "action": "('move', (168.6943, 171.9731))", "reward": 1.0, "image_prev": 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"info": "{\"env_feedback\": \"Action executed successfully.\"}"}, {"step": 28, "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 29. You are allowed to take 1 more steps.", "vlm_output": "('stop', 'stop')", "action": "('stop', 'stop')", "reward": 1.0, "image_prev": 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