@r1z4x/tezgah 1.0.0

package/skills/ai-research/18-multimodal/cosmos-policy/SKILL.md

@@ -0,0 +1,402 @@
+---
+name: evaluating-cosmos-policy
+description: Evaluates NVIDIA Cosmos Policy on LIBERO and RoboCasa simulation environments. Use when setting up cosmos-policy for robot manipulation evaluation, running headless GPU evaluations with EGL rendering, or profiling inference latency on cluster or local GPU machines.
+version: 1.0.0
+author: Orchestra Research
+license: MIT
+tags: [Cosmos Policy, VLA, Robotics, LIBERO, RoboCasa, Simulation, Evaluation, Profiling, EGL Rendering]
+dependencies: [torch>=2.1.0, mujoco>=3.0.0, robosuite>=1.4.0, "robocasa @ git+https://github.com/moojink/robocasa-cosmos-policy.git", transformers>=4.40.0, "cosmos-policy @ git+https://github.com/NVlabs/cosmos-policy.git"]
+---
+
+# Cosmos Policy Evaluation
+
+Evaluation workflows for NVIDIA Cosmos Policy on LIBERO and RoboCasa simulation environments from the public `cosmos-policy` repository. Covers blank-machine setup, headless GPU evaluation, and inference profiling.
+
+## Quick start
+
+Run a minimal LIBERO evaluation using the official public eval module:
+
+```bash
+uv run --extra cu128 --group libero --python 3.10 \
+  python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+    --config cosmos_predict2_2b_480p_libero__inference_only \
+    --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+    --config_file cosmos_policy/config/config.py \
+    --use_wrist_image True \
+    --use_proprio True \
+    --normalize_proprio True \
+    --unnormalize_actions True \
+    --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+    --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+    --trained_with_image_aug True \
+    --chunk_size 16 \
+    --num_open_loop_steps 16 \
+    --task_suite_name libero_10 \
+    --num_trials_per_task 1 \
+    --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+    --seed 195 \
+    --randomize_seed False \
+    --deterministic True \
+    --run_id_note smoke \
+    --ar_future_prediction False \
+    --ar_value_prediction False \
+    --use_jpeg_compression True \
+    --flip_images True \
+    --num_denoising_steps_action 5 \
+    --num_denoising_steps_future_state 1 \
+    --num_denoising_steps_value 1 \
+    --data_collection False
+```
+
+## Core concepts
+
+**What Cosmos Policy is**: NVIDIA Cosmos Policy is a vision-language-action (VLA) model that uses Cosmos Tokenizer to encode visual observations into discrete tokens, then predicts robot actions conditioned on language instructions and visual context.
+
+**Key architecture choices**:
+
+| Component | Design |
+|-----------|--------|
+| Visual encoder | Cosmos Tokenizer (discrete tokens) |
+| Language conditioning | Cross-attention to language embeddings |
+| Action prediction | Autoregressive action token generation |
+
+**Public command surface**: The supported evaluation entrypoints are `cosmos_policy.experiments.robot.libero.run_libero_eval` and `cosmos_policy.experiments.robot.robocasa.run_robocasa_eval`. Keep reproduction notes anchored to these public modules and their documented flags.
+
+## Compute requirements
+
+| Task | GPU | VRAM | Typical wall time |
+|------|-----|------|-------------------|
+| LIBERO smoke eval (1 trial) | 1x A40/A100 | ~16 GB | 5-10 min |
+| LIBERO full eval (50 trials) | 1x A40/A100 | ~16 GB | 2-4 hours |
+| RoboCasa single-task (2 trials) | 1x A40/A100 | ~18 GB | 10-15 min |
+| RoboCasa all-tasks | 1x A40/A100 | ~18 GB | 4-8 hours |
+
+## When to use vs alternatives
+
+**Use this skill when:**
+- Evaluating NVIDIA Cosmos Policy on LIBERO or RoboCasa benchmarks
+- Profiling inference latency and throughput for Cosmos Policy
+- Setting up headless EGL rendering for robot simulation on GPU clusters
+
+**Use alternatives when:**
+- Training or fine-tuning Cosmos Policy from scratch (use official Cosmos training docs)
+- Working with OpenVLA-based policies (use `fine-tuning-openvla-oft`)
+- Working with Physical Intelligence pi0 models (use `fine-tuning-serving-openpi`)
+- Running real-robot evaluation rather than simulation
+
+---
+
+## Workflow 1: LIBERO evaluation
+
+Copy this checklist and track progress:
+
+```text
+LIBERO Eval Progress:
+- [ ] Step 1: Install environment and dependencies
+- [ ] Step 2: Configure headless EGL rendering
+- [ ] Step 3: Run smoke evaluation
+- [ ] Step 4: Validate outputs and parse results
+- [ ] Step 5: Run full benchmark if smoke passes
+```
+
+**Step 1: Install environment**
+
+```bash
+git clone https://github.com/NVlabs/cosmos-policy.git
+cd cosmos-policy
+# Follow SETUP.md to build and enter the supported Docker container.
+# Then, inside the container:
+uv sync --extra cu128 --group libero --python 3.10
+```
+
+**Step 2: Configure headless rendering**
+
+```bash
+export CUDA_VISIBLE_DEVICES=0
+export MUJOCO_EGL_DEVICE_ID=0
+export MUJOCO_GL=egl
+export PYOPENGL_PLATFORM=egl
+```
+
+**Step 3: Run smoke evaluation**
+
+```bash
+uv run --extra cu128 --group libero --python 3.10 \
+  python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+    --config cosmos_predict2_2b_480p_libero__inference_only \
+    --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+    --config_file cosmos_policy/config/config.py \
+    --use_wrist_image True \
+    --use_proprio True \
+    --normalize_proprio True \
+    --unnormalize_actions True \
+    --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+    --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+    --trained_with_image_aug True \
+    --chunk_size 16 \
+    --num_open_loop_steps 16 \
+    --task_suite_name libero_10 \
+    --num_trials_per_task 1 \
+    --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+    --seed 195 \
+    --randomize_seed False \
+    --deterministic True \
+    --run_id_note smoke \
+    --ar_future_prediction False \
+    --ar_value_prediction False \
+    --use_jpeg_compression True \
+    --flip_images True \
+    --num_denoising_steps_action 5 \
+    --num_denoising_steps_future_state 1 \
+    --num_denoising_steps_value 1 \
+    --data_collection False
+```
+
+**Step 4: Validate and parse results**
+
+```python
+import json
+import glob
+
+# Find latest evaluation result from the official log directory
+log_files = sorted(glob.glob("cosmos_policy/experiments/robot/libero/logs/**/*.json", recursive=True))
+with open(log_files[-1]) as f:
+    results = json.load(f)
+
+print(results)
+```
+
+**Step 5: Scale up**
+
+Run across all four LIBERO task suites with 50 trials:
+
+```bash
+for suite in libero_spatial libero_object libero_goal libero_10; do
+  uv run --extra cu128 --group libero --python 3.10 \
+    python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+      --config cosmos_predict2_2b_480p_libero__inference_only \
+      --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+      --config_file cosmos_policy/config/config.py \
+      --use_wrist_image True \
+      --use_proprio True \
+      --normalize_proprio True \
+      --unnormalize_actions True \
+      --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+      --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+      --trained_with_image_aug True \
+      --chunk_size 16 \
+      --num_open_loop_steps 16 \
+      --task_suite_name "$suite" \
+      --num_trials_per_task 50 \
+      --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+      --seed 195 \
+      --randomize_seed False \
+      --deterministic True \
+      --run_id_note "suite_${suite}" \
+      --ar_future_prediction False \
+      --ar_value_prediction False \
+      --use_jpeg_compression True \
+      --flip_images True \
+      --num_denoising_steps_action 5 \
+      --num_denoising_steps_future_state 1 \
+      --num_denoising_steps_value 1 \
+      --data_collection False
+done
+```
+
+---
+
+## Workflow 2: RoboCasa evaluation
+
+Copy this checklist and track progress:
+
+```text
+RoboCasa Eval Progress:
+- [ ] Step 1: Install RoboCasa assets and verify macros
+- [ ] Step 2: Run single-task smoke evaluation
+- [ ] Step 3: Validate outputs
+- [ ] Step 4: Expand to multi-task runs
+```
+
+**Step 1: Install RoboCasa**
+
+```bash
+git clone https://github.com/moojink/robocasa-cosmos-policy.git
+uv pip install -e robocasa-cosmos-policy
+python -m robocasa.scripts.setup_macros
+python -m robocasa.scripts.download_kitchen_assets
+```
+
+This fork installs the `robocasa` Python package expected by Cosmos Policy while preserving the patched environment changes used in the public RoboCasa eval path. Verify `macros_private.py` exists and paths are correct.
+
+**Step 2: Single-task smoke evaluation**
+
+```bash
+uv run --extra cu128 --group robocasa --python 3.10 \
+  python -m cosmos_policy.experiments.robot.robocasa.run_robocasa_eval \
+    --config cosmos_predict2_2b_480p_robocasa_50_demos_per_task__inference \
+    --ckpt_path nvidia/Cosmos-Policy-RoboCasa-Predict2-2B \
+    --config_file cosmos_policy/config/config.py \
+    --use_wrist_image True \
+    --num_wrist_images 1 \
+    --use_proprio True \
+    --normalize_proprio True \
+    --unnormalize_actions True \
+    --dataset_stats_path nvidia/Cosmos-Policy-RoboCasa-Predict2-2B/robocasa_dataset_statistics.json \
+    --t5_text_embeddings_path nvidia/Cosmos-Policy-RoboCasa-Predict2-2B/robocasa_t5_embeddings.pkl \
+    --trained_with_image_aug True \
+    --chunk_size 32 \
+    --num_open_loop_steps 16 \
+    --task_name TurnOffMicrowave \
+    --obj_instance_split A \
+    --num_trials_per_task 2 \
+    --local_log_dir cosmos_policy/experiments/robot/robocasa/logs/ \
+    --seed 195 \
+    --randomize_seed False \
+    --deterministic True \
+    --run_id_note smoke \
+    --use_variance_scale False \
+    --use_jpeg_compression True \
+    --flip_images True \
+    --num_denoising_steps_action 5 \
+    --num_denoising_steps_future_state 1 \
+    --num_denoising_steps_value 1 \
+    --data_collection False
+```
+
+**Step 3: Validate outputs**
+
+- Confirm the eval log prints the expected task name, object split, and checkpoint/config values.
+- Inspect the final `Success rate:` line in the log.
+
+**Step 4: Expand scope**
+
+Increase `--num_trials_per_task` or add more tasks. Keep `--obj_instance_split` fixed across repeated runs for comparability.
+
+---
+
+## Workflow 3: Blank-machine cluster launch
+
+```text
+Cluster Launch Progress:
+- [ ] Step 1: Clone the public repo and enter the supported runtime
+- [ ] Step 2: Sync the benchmark-specific dependency group
+- [ ] Step 3: Export rendering and cache environment variables before eval
+```
+
+**Step 1: Clone and enter the supported runtime**
+
+```bash
+git clone https://github.com/NVlabs/cosmos-policy.git
+cd cosmos-policy
+# Follow SETUP.md, start the Docker container, and enter it before continuing.
+```
+
+**Step 2: Sync dependencies**
+
+```bash
+uv sync --extra cu128 --group libero --python 3.10
+# or, for RoboCasa:
+uv sync --extra cu128 --group robocasa --python 3.10
+# then install the Cosmos-compatible RoboCasa fork:
+git clone https://github.com/moojink/robocasa-cosmos-policy.git
+uv pip install -e robocasa-cosmos-policy
+```
+
+**Step 3: Export runtime environment**
+
+```bash
+export CUDA_VISIBLE_DEVICES=0
+export MUJOCO_EGL_DEVICE_ID=0
+export MUJOCO_GL=egl
+export PYOPENGL_PLATFORM=egl
+export HF_HOME=${HF_HOME:-$HOME/.cache/huggingface}
+export TRANSFORMERS_CACHE=${TRANSFORMERS_CACHE:-$HF_HOME}
+```
+
+---
+
+## Expected performance benchmarks
+
+Reference values from official evaluation (tied to specific setup and seeds):
+
+| Task Suite | Success Rate | Notes |
+|-----------|-------------|-------|
+| LIBERO-Spatial | 98.1% | Official LIBERO spatial result |
+| LIBERO-Object | 100.0% | Official LIBERO object result |
+| LIBERO-Goal | 98.2% | Official LIBERO goal result |
+| LIBERO-Long | 97.6% | Official LIBERO long-horizon result |
+| LIBERO-Average | 98.5% | Official average across LIBERO suites |
+| RoboCasa | 67.1% | Official RoboCasa average result |
+
+**Reproduction note**: Published success rates still depend on checkpoint choice, task suite, seeds, and simulator setup. Record the exact command and environment alongside any reported number.
+
+---
+
+## Non-negotiable rules
+
+- **EGL alignment**: Always set `CUDA_VISIBLE_DEVICES`, `MUJOCO_EGL_DEVICE_ID`, `MUJOCO_GL=egl`, and `PYOPENGL_PLATFORM=egl` together on headless GPU nodes.
+- **Official runtime first**: If host-Python installs hit binary compatibility issues, fall back to the supported container workflow from `SETUP.md` before debugging package internals.
+- **Cache consistency**: Use the same cache directory across setup and eval so Hugging Face and dependency caches are reused.
+- **Run comparability**: Keep task name, object split, seed, and trial count fixed across repeated runs.
+
+---
+
+## Common issues
+
+**Issue: binary compatibility or loader failures on host Python**
+
+Fix: rerun inside the official container/runtime from `SETUP.md`. Do not assume host-package rebuilds will match the public release environment.
+
+**Issue: LIBERO prompts for config path in a non-interactive shell**
+
+Fix: pre-create `LIBERO_CONFIG_PATH/config.yaml`:
+
+```python
+import os, yaml
+
+config_dir = os.path.expanduser("~/.libero")
+os.makedirs(config_dir, exist_ok=True)
+with open(os.path.join(config_dir, "config.yaml"), "w") as f:
+    yaml.dump({"benchmark_root": "/path/to/libero/datasets"}, f)
+```
+
+**Issue: EGL initialization or shutdown noise**
+
+Fix: align EGL environment variables first. Treat teardown-only `EGL_NOT_INITIALIZED` warnings as low-signal unless the job exits non-zero.
+
+**Issue: Kitchen object sampling NaNs or asset lookup failures in RoboCasa**
+
+Fix: rerun asset setup and confirm the patched robocasa install is intact:
+
+```bash
+python -m robocasa.scripts.download_kitchen_assets
+python -c "import robocasa; print(robocasa.__file__)"
+```
+
+**Issue: MuJoCo rendering mismatch**
+
+Fix: verify GPU device alignment:
+
+```python
+import os
+cuda_dev = os.environ.get("CUDA_VISIBLE_DEVICES", "not set")
+egl_dev = os.environ.get("MUJOCO_EGL_DEVICE_ID", "not set")
+assert cuda_dev == egl_dev, f"GPU mismatch: CUDA={cuda_dev}, EGL={egl_dev}"
+print(f"Rendering on GPU {cuda_dev}")
+```
+
+---
+
+## Advanced topics
+
+**LIBERO command matrix**: See [references/libero-commands.md](references/libero-commands.md)
+**RoboCasa command matrix**: See [references/robocasa-commands.md](references/robocasa-commands.md)
+
+## Resources
+
+- Cosmos Policy repository: https://github.com/NVlabs/cosmos-policy
+- LIBERO benchmark: https://github.com/Lifelong-Robot-Learning/LIBERO
+- Cosmos-compatible RoboCasa fork: https://github.com/moojink/robocasa-cosmos-policy
+- Upstream RoboCasa project: https://github.com/robocasa/robocasa
+- MuJoCo documentation: https://mujoco.readthedocs.io/

package/skills/ai-research/18-multimodal/cosmos-policy/references/libero-commands.md

@@ -0,0 +1,175 @@
+<!-- vendored from orchestra-research/AI-research-SKILLs@773a52944ba4747a18bd4ae9ade53fff041adcbc 18-multimodal/cosmos-policy/references/libero-commands.md; MIT (c) Orchestra Research -->
+# LIBERO Command Matrix
+
+Command variations for running Cosmos Policy LIBERO evaluation on local machines, interactive GPU shells, or batch systems. All commands use the official public `cosmos_policy.experiments.robot.libero.run_libero_eval` module.
+
+## Preferred path: interactive GPU shell
+
+Acquire one GPU, then run evaluations directly:
+
+```bash
+# Slurm example
+srun --partition=gpu --gpus-per-node=1 \
+  --time=01:00:00 --mem=64G --cpus-per-task=8 --pty bash
+
+cd /path/to/cosmos-policy
+
+# Set headless rendering environment
+export CUDA_VISIBLE_DEVICES=0
+export MUJOCO_EGL_DEVICE_ID=0
+export MUJOCO_GL=egl
+export PYOPENGL_PLATFORM=egl
+
+# Smoke eval (1 trial, single suite)
+uv run --extra cu128 --group libero --python 3.10 \
+  python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+    --config cosmos_predict2_2b_480p_libero__inference_only \
+    --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+    --config_file cosmos_policy/config/config.py \
+    --use_wrist_image True \
+    --use_proprio True \
+    --normalize_proprio True \
+    --unnormalize_actions True \
+    --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+    --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+    --trained_with_image_aug True \
+    --chunk_size 16 \
+    --num_open_loop_steps 16 \
+    --task_suite_name libero_10 \
+    --num_trials_per_task 1 \
+    --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+    --seed 195 \
+    --randomize_seed False \
+    --deterministic True \
+    --run_id_note smoke \
+    --ar_future_prediction False \
+    --ar_value_prediction False \
+    --use_jpeg_compression True \
+    --flip_images True \
+    --num_denoising_steps_action 5 \
+    --num_denoising_steps_future_state 1 \
+    --num_denoising_steps_value 1 \
+    --data_collection False
+
+# Full eval (50 trials, single suite)
+uv run --extra cu128 --group libero --python 3.10 \
+  python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+    --config cosmos_predict2_2b_480p_libero__inference_only \
+    --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+    --config_file cosmos_policy/config/config.py \
+    --use_wrist_image True \
+    --use_proprio True \
+    --normalize_proprio True \
+    --unnormalize_actions True \
+    --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+    --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+    --trained_with_image_aug True \
+    --chunk_size 16 \
+    --num_open_loop_steps 16 \
+    --task_suite_name libero_10 \
+    --num_trials_per_task 50 \
+    --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+    --seed 195 \
+    --randomize_seed False \
+    --deterministic True \
+    --run_id_note full \
+    --ar_future_prediction False \
+    --ar_value_prediction False \
+    --use_jpeg_compression True \
+    --flip_images True \
+    --num_denoising_steps_action 5 \
+    --num_denoising_steps_future_state 1 \
+    --num_denoising_steps_value 1 \
+    --data_collection False
+
+# All four suites
+for suite in libero_spatial libero_object libero_goal libero_10; do
+  uv run --extra cu128 --group libero --python 3.10 \
+    python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+      --config cosmos_predict2_2b_480p_libero__inference_only \
+      --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+      --config_file cosmos_policy/config/config.py \
+      --use_wrist_image True \
+      --use_proprio True \
+      --normalize_proprio True \
+      --unnormalize_actions True \
+      --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+      --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+      --trained_with_image_aug True \
+      --chunk_size 16 \
+      --num_open_loop_steps 16 \
+      --task_suite_name "$suite" \
+      --num_trials_per_task 50 \
+      --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+      --seed 195 \
+      --randomize_seed False \
+      --deterministic True \
+      --run_id_note "suite_${suite}" \
+      --ar_future_prediction False \
+      --ar_value_prediction False \
+      --use_jpeg_compression True \
+      --flip_images True \
+      --num_denoising_steps_action 5 \
+      --num_denoising_steps_future_state 1 \
+      --num_denoising_steps_value 1 \
+      --data_collection False
+done
+```
+
+## Local GPU workstation path
+
+Skip `srun` and run the same `uv run ... python -m` commands directly. Set EGL env vars first. If host-Python binaries are unstable, prefer the official container/runtime from `SETUP.md`.
+
+## Blank-machine setup reminder
+
+Before running any command below:
+
+- clone `https://github.com/NVlabs/cosmos-policy.git`
+- follow `SETUP.md` and enter the supported Docker container
+- run `uv sync --extra cu128 --group libero --python 3.10`
+
+## Batch fallback
+
+Only use batch submission after the direct command path works interactively:
+
+```bash
+sbatch --partition=gpu --time=04:00:00 --wrap="
+  export CUDA_VISIBLE_DEVICES=0 MUJOCO_EGL_DEVICE_ID=0 MUJOCO_GL=egl PYOPENGL_PLATFORM=egl
+  cd /path/to/cosmos-policy
+  uv run --extra cu128 --group libero --python 3.10 \
+    python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
+      --config cosmos_predict2_2b_480p_libero__inference_only \
+      --ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
+      --config_file cosmos_policy/config/config.py \
+      --use_wrist_image True \
+      --use_proprio True \
+      --normalize_proprio True \
+      --unnormalize_actions True \
+      --dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
+      --t5_text_embeddings_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pkl \
+      --trained_with_image_aug True \
+      --chunk_size 16 \
+      --num_open_loop_steps 16 \
+      --task_suite_name libero_10 \
+      --num_trials_per_task 50 \
+      --local_log_dir cosmos_policy/experiments/robot/libero/logs/ \
+      --seed 195 \
+      --randomize_seed False \
+      --deterministic True \
+      --run_id_note batch \
+      --ar_future_prediction False \
+      --ar_value_prediction False \
+      --use_jpeg_compression True \
+      --flip_images True \
+      --num_denoising_steps_action 5 \
+      --num_denoising_steps_future_state 1 \
+      --num_denoising_steps_value 1 \
+      --data_collection False
+"
+```
+
+## High-signal gotchas
+
+- If host-Python binaries fail to import cleanly, return to the official container/runtime from `SETUP.md` before debugging Python package state.
+- Always align `CUDA_VISIBLE_DEVICES` and `MUJOCO_EGL_DEVICE_ID` to the same GPU index.
+- Keep the full config block with the command because upstream eval depends on many explicit flags, not only task suite and trial count.