==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True, False,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 68.59998798370361 seconds
inference_precision: fp32
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True, False,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 45.66186594963074 seconds
inference_precision: fp32
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt
multi_gpu:
  enabled: true
  devices:
  - 0
  - 1

==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True, False,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 69.21508717536926 seconds
inference_precision: fp32
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt
multi_gpu:
  enabled: true
  devices:
  - 0
  - 1

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 37.82094120979309 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt
multi_gpu:
  enabled: true
  devices:
  - 0
  - 1

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 37.55708169937134 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 29.592512607574463 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 29.783243894577026 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: true
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 34.548478841781616 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 60.4364275932312 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 53.217538356781006 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 300
  var_scale: 1.0
  n_steps: 30
  topk: 30
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True, False,  True,
        True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 35.28816795349121 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 128
  var_scale: 1.0
  n_steps: 15
  topk: 16
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 5
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 80.0, 'episode_successes': array([ True, False,  True,  True,  True]), 'seeds': None}
evaluation_time: 14.388008117675781 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 128
  var_scale: 1.0
  n_steps: 15
  topk: 16
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 5
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 80.0, 'episode_successes': array([ True, False,  True,  True,  True]), 'seeds': None}
evaluation_time: 5.2156901359558105 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 128
  var_scale: 1.0
  n_steps: 15
  topk: 16
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 5
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 80.0, 'episode_successes': array([ True, False,  True,  True,  True]), 'seeds': None}
evaluation_time: 5.612526178359985 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 160
  var_scale: 1.0
  n_steps: 18
  topk: 20
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 88.0, 'episode_successes': array([ True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True, False, False,  True, False,
        True, False, False,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True, False,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 37.33809852600098 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 128
  var_scale: 1.0
  n_steps: 20
  topk: 16
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True, False,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True, False,  True,  True, False,  True,  True,
        True,  True, False, False,  True]), 'seeds': None}
evaluation_time: 37.4112982749939 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 16
  num_samples: 96
  var_scale: 1.0
  n_steps: 12
  topk: 12
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True, False, False,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True, False,  True]), 'seeds': None}
evaluation_time: 33.814064264297485 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 64
  var_scale: 1.0
  n_steps: 10
  topk: 8
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True, False, False,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True, False,  True]), 'seeds': None}
evaluation_time: 31.93920063972473 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 48
  var_scale: 1.0
  n_steps: 8
  topk: 6
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 80.0, 'episode_successes': array([ True,  True, False,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True, False, False,  True,
        True,  True, False,  True, False,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True,  True,  True, False,  True, False, False,  True,  True,
        True,  True,  True, False,  True]), 'seeds': None}
evaluation_time: 31.703332662582397 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 64
  var_scale: 1.0
  n_steps: 10
  topk: 8
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True, False, False,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True, False,  True]), 'seeds': None}
evaluation_time: 16.38284730911255 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.CEMSolver
  model: ???
  batch_size: 8
  num_samples: 64
  var_scale: 1.0
  n_steps: 10
  topk: 8
  device: cuda
  seed: ${seed}
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True, False, False,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True, False,
        True,  True,  True,  True,  True,  True, False,  True,  True,
        True,  True,  True, False,  True]), 'seeds': None}
evaluation_time: 16.081845998764038 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.GradientSolver
  model: ???
  n_steps: 10
  batch_size: 8
  num_samples: 1
  action_noise: 0
  device: cuda
  seed: ${seed}
  optimizer_cls:
    _target_: hydra.utils.get_class
    path: torch.optim.AdamW
  optimizer_kwargs:
    lr: 0.05
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 46.0, 'episode_successes': array([False, False,  True, False,  True,  True,  True, False, False,
        True, False, False,  True, False, False, False, False, False,
        True,  True, False,  True, False,  True,  True, False,  True,
       False,  True,  True,  True, False, False,  True, False, False,
        True,  True,  True, False, False, False, False,  True,  True,
        True,  True, False, False, False]), 'seeds': None}
evaluation_time: 63.84614443778992 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.GradientSolver
  model: ???
  n_steps: 125
  batch_size: 50
  num_samples: 1
  action_noise: 0
  device: cuda
  seed: ${seed}
  optimizer_cls:
    _target_: hydra.utils.get_class
    path: torch.optim.AdamW
  optimizer_kwargs:
    lr: 0.05
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt
profile:
  enabled: false

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True, False,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True, False,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 15.638921022415161 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead

==== CONFIG ====
cache_dir: null
solver:
  _target_: stable_worldmodel.solver.GradientSolver
  model: ???
  n_steps: 125
  batch_size: 50
  num_samples: 1
  action_noise: 0
  device: cuda
  seed: ${seed}
  optimizer_cls:
    _target_: hydra.utils.get_class
    path: torch.optim.AdamW
  optimizer_kwargs:
    lr: 0.05
world:
  env_name: swm/PushT-v1
  num_envs: ${eval.num_eval}
  max_episode_steps: ???
  history_size: 1
  frame_skip: 1
dataset:
  stats: ${eval.dataset_name}
  keys_to_cache:
  - action
  - proprio
  - state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
  horizon: 5
  receding_horizon: 5
  action_block: 5
eval:
  num_eval: 50
  goal_offset_steps: 25
  eval_budget: 50
  img_size: 224
  save_video: false
  dataset_name: pusht_expert_train
  callables:
  - method: _set_state
    args:
      state:
        value: state
  - method: _set_goal_state
    args:
      goal_state:
        value: goal_state
output:
  filename: pusht_results.txt

==== RESULTS ====
metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False,  True,  True,  True,  True,  True,  True,  True,
        True, False,  True,  True,  True,  True,  True, False,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True,  True,  True,  True,  True,  True,  True,
        True,  True,  True, False,  True,  True, False,  True,  True,
        True,  True,  True,  True,  True]), 'seeds': None}
evaluation_time: 16.060093879699707 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead