Making block rows experiment - Efficientnet - B0 - NO trial reward - 45k

This is a comparatively long run at 45k iterations with no trial reward.

Status printout:

Training iteration: 45065
Primitive confidence scores: 4.550461 (push), 4.225641 (grasp), 5.490469 (place)
Strategy: exploit (exploration probability: 0.100000)
check_row: True | row_size: 2 | blocks: ['blue' 'green']
check_stack() stack_height: 2 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
check_stack() stack_height: 2 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
Push motion successful (no crash, need not move blocks): True
STACK:  trial: 10575 actions/partial: 3.5070817120622566  actions/full stack: 37.680602006688964 (lower is better)  Grasp Count: 8485, grasp success rate: 0.6603417796110784 place_on_stack_rate: 2.32579185520362 place_attempts: 5525  partial_stack_successes: 12850  stack_successes: 1196 trial_success_rate: 0.11309692671394798 stack goal: [3 0 2] current_height: 2
Primitive confidence scores: 4.615572 (push), 3.978644 (grasp), 5.760473 (place)
Strategy: exploit (exploration probability: 0.100000)
check_row: True | row_size: 2 | blocks: ['green' 'red']
check_stack() stack_height: 2 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
check_stack() stack_height: 2 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
Push motion successful (no crash, need not move blocks): True
STACK:  trial: 10575 actions/partial: 3.50715953307393  actions/full stack: 37.6814381270903 (lower is better)  Grasp Count: 8485, grasp success rate: 0.6603417796110784 place_on_stack_rate: 2.32579185520362 place_attempts: 5525  partial_stack_successes: 12850  stack_successes: 1196 trial_success_rate: 0.11309692671394798 stack goal: [3 0 2] current_height: 2
check_stack() stack_height: 3 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
Training loss: 0.127804
check_row: True | row_size: 3 | blocks: ['blue' 'green' 'red']
check_stack() stack_height: 3 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
Push motion successful (no crash, need not move blocks): True
STACK:  trial: 9048 actions/partial: 3.9553521907931226  actions/full stack: 43.706843718079675 (lower is better)  Grasp Count: 5073, grasp success rate: 0.6136408436822393 place_on_stack_rate: 3.5272253015976522 place_attempts: 3067  partial_stack_successes: 10818  stack_successes: 979 trial_success_rate: 0.10820070733863837 stack goal: [2 1 3 0] current_height: 3
Time elapsed: 75.341604
Trainer iteration: 42789.000000

Training iteration: 42789
WARNING variable mismatch num_trials + 1: 5688 nonlocal_variables[stack].trial: 9048
Change detected: True (value: 1341)
Primitive confidence scores: 4.360327 (push), 2.633780 (grasp), 4.680840 (place)
Strategy: exploit (exploration probability: 0.100000)
Trainer.get_label_value(): Current reward: 2.250000 Current reward multiplier: 3.000000 Predicted Future reward: 4.569565 Expected reward: 2.250000 + 0.500000 x 4.569565 = 4.534783
Action: push at (4, 66, 100)
Executing: push at (-0.524000, -0.092000, 0.001000)
Training loss: 0.007398
Experience replay 118955: history timestep index 123, action: place, surprise value: 3.521547
Training loss: 0.000000
check_row: True | row_size: 2 | blocks: ['yellow' 'red']
check_stack() stack_height: 2 stack matches current goal: False partial_stack_success: False Does the code think a reset is needed: True
main.py check_stack() DETECTED A MISMATCH between the goal height: 3 and current workspace stack height: 2, RESETTING the objects, goals, and action success to FALSE...
check_row: True | row_size: 2 | blocks: ['yellow' 'red']
check_stack() stack_height: 2 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: True
main.py check_stack() DETECTED A MISMATCH between the goal height: 1 and current workspace stack height: 2, RESETTING the objects, goals, and action success to FALSE...
STACK:  trial: 9050 actions/partial: 3.955444629321501  actions/full stack: 43.70786516853933 (lower is better)  Grasp Count: 5073, grasp success rate: 0.6136408436822393 place_on_stack_rate: 3.5272253015976522 place_attempts: 3067  partial_stack_successes: 10818  stack_successes: 979 trial_success_rate: 0.1081767955801105 stack goal: [2 1 3 0] current_height: 2
Time elapsed: 97.845186
Trainer iteration: 42790.000000

Command to replicate:

export CUDA_VISIBLE_DEVICES="1" && python3 main.py --is_sim --obj_mesh_dir 'objects/blocks' --num_obj 4 --push_rewards --experience_replay --explore_rate_decay --place --check_row --tcp_port 19995