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pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

@@ -0,0 +1,537 @@
+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [30,
+                                        55,
+                                        180,
+                                        320,
+                                        410,
+                                        491,
+                                        550,
+                                        608,
+                                        656,
+                                        720,
+                                        763,
+                                        827,
+                                        902,
+                                        1015,
+                                        1113,
+                                        1140,
+                                        1208,
+                                        1280,
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+                                        1828,
+                                        1930,
+                                        2032,
+                                        2109,
+                                        2232,
+                                        2342,
+                                        2458,
+                                        2498,
+                                        2634,
+                                        2767,
+                                        2843,
+                                        2922,
+                                        3043,
+                                        3148,
+                                        3239,
+                                        3283,
+                                        3368,
+                                        3416,
+                                        3514,
+                                        3588,
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+                                        3991,
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+                                        5755,
+                                        5867,
+                                        5914,
+                                        6011,
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+                                        6755,
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+                                        6995,
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+                                        8326,
+                                        8402,
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+                                        8767,
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+                                        8922,
+                                        8993,
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+                                        9173,
+                                        9279,
+                                        9343,
+                                        9476,
+                                        9522,
+                                        9603,
+                                        9662,
+                                        9764,
+                                        9915],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}	[pipeline.py: 1287]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 30 (index 0/121)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 30 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_30_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:33 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:34 INFO: [Worker 0] Sampled task 'Pick up the yellow origami paper crane and place it next to the gray camouflage bicycle helmet with vents'	[task_sampler.py: 1136]
+05/26 12:05:34 INFO: [Worker 0] Worker 0 house 30 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:05:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 12:24:40 INFO: [Worker 0] Worker 0 house 30 episode 0 object objaorigamicrane_64f4a0b158774b10a1817b689df959e9_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 12:24:51 INFO: [Worker 0] Batching and saving trajectory data for house_30: 1 episodes	[pipeline.py: 233]
+05/26 12:24:51 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 12:24:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 12:24:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_30	[save_utils.py: 703]
+05/26 12:24:58 INFO: [Worker 0] Successfully saved trajectory data for house_30 in 7.67s (batch: 7.53s, save: 0.14s)	[pipeline.py: 280]
+05/26 12:25:00 WARNING: [Worker 0] No trajectory data to save for house_30	[pipeline.py: 229]
+05/26 12:25:00 INFO: [Worker 0] Worker 0 completed house 30: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 12:25:00 INFO: [Worker 0] Worker 0 starting house 55 (index 1/121)	[pipeline.py: 473]
+05/26 12:25:00 INFO: [Worker 0] Loaded 1 episodes for house 55 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 12:25:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:25:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_55_ceiling.xml	[task_sampler.py: 797]
+05/26 12:25:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=55, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:25:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:25:07 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects	[json_eval_task_sampler.py: 686]
+05/26 12:25:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:25:07 INFO: [Worker 0] Sampled task 'Pick up the black visor cap with colorful letters and place it next to the sleek dark gray laptop'	[task_sampler.py: 1136]
+05/26 12:25:07 INFO: [Worker 0] Worker 0 house 55 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:25:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:31:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 13:12:01 INFO: [Worker 0] Worker 0 house 55 episode 0 object objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 13:12:12 INFO: [Worker 0] Batching and saving trajectory data for house_55: 1 episodes	[pipeline.py: 233]
+05/26 13:12:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 13:12:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 13:12:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_55	[save_utils.py: 703]
+05/26 13:12:21 INFO: [Worker 0] Successfully saved trajectory data for house_55 in 8.61s (batch: 8.34s, save: 0.27s)	[pipeline.py: 280]
+05/26 13:12:23 WARNING: [Worker 0] No trajectory data to save for house_55	[pipeline.py: 229]
+05/26 13:12:23 INFO: [Worker 0] Worker 0 completed house 55: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 13:12:23 INFO: [Worker 0] Worker 0 starting house 180 (index 2/121)	[pipeline.py: 473]
+05/26 13:12:23 INFO: [Worker 0] Loaded 1 episodes for house 180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 13:12:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 13:12:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_180_ceiling.xml	[task_sampler.py: 797]
+05/26 13:12:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=180, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 13:12:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 13:12:37 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/26 13:12:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 13:12:38 INFO: [Worker 0] Sampled task 'Pick up the heavy-duty ratcheting pipe cutter tool and place it next to the modeltank'	[task_sampler.py: 1136]
+05/26 13:12:38 INFO: [Worker 0] Worker 0 house 180 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 13:12:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:12:38 WARNING: [Worker 0] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene	[object_manager.py: 1238]
+05/26 13:12:38 WARNING: [Worker 0] Could not find object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 13:12:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 14:24:51 INFO: [Worker 0] Worker 0 house 180 episode 0 object objapipecutter_50b88a2361374aa3a8f8fec1447bb93b_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 14:25:01 INFO: [Worker 0] Batching and saving trajectory data for house_180: 1 episodes	[pipeline.py: 233]
+05/26 14:25:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:25:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:25:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_180	[save_utils.py: 703]
+05/26 14:25:08 INFO: [Worker 0] Successfully saved trajectory data for house_180 in 7.01s (batch: 6.59s, save: 0.42s)	[pipeline.py: 280]
+05/26 14:25:11 WARNING: [Worker 0] No trajectory data to save for house_180	[pipeline.py: 229]
+05/26 14:25:11 INFO: [Worker 0] Worker 0 completed house 180: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 14:25:11 INFO: [Worker 0] Worker 0 starting house 320 (index 3/121)	[pipeline.py: 473]
+05/26 14:25:11 INFO: [Worker 0] Loaded 1 episodes for house 320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 14:25:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 14:25:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_320_ceiling.xml	[task_sampler.py: 797]
+05/26 14:25:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=320, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:25:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:25:27 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/26 14:25:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:25:28 INFO: [Worker 0] Sampled task 'Pick up the ammo and place it next to the glossy red tomato with stem'	[task_sampler.py: 1136]
+05/26 14:25:28 INFO: [Worker 0] Worker 0 house 320 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:25:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 15:26:46 INFO: [Worker 0] Worker 0 house 320 episode 0 object objabulletcartridge_b6a4e3f1ce034204abb62d92e2591bea_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 15:26:55 INFO: [Worker 0] Batching and saving trajectory data for house_320: 1 episodes	[pipeline.py: 233]
+05/26 15:26:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 15:27:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 15:27:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_320	[save_utils.py: 703]
+05/26 15:27:01 INFO: [Worker 0] Successfully saved trajectory data for house_320 in 6.48s (batch: 6.14s, save: 0.35s)	[pipeline.py: 280]
+05/26 15:27:03 WARNING: [Worker 0] No trajectory data to save for house_320	[pipeline.py: 229]
+05/26 15:27:03 INFO: [Worker 0] Worker 0 completed house 320: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 15:27:03 INFO: [Worker 0] Worker 0 starting house 410 (index 4/121)	[pipeline.py: 473]
+05/26 15:27:03 INFO: [Worker 0] Loaded 1 episodes for house 410 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 15:27:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 15:27:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_410_ceiling.xml	[task_sampler.py: 797]
+05/26 15:27:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=410, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 15:27:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 15:27:09 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects	[json_eval_task_sampler.py: 686]
+05/26 15:27:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 15:27:09 INFO: [Worker 0] Sampled task 'Pick up the cream candle in blue holder and place it next to the gray laptop with keyboard'	[task_sampler.py: 1136]
+05/26 15:27:09 INFO: [Worker 0] Worker 0 house 410 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 15:27:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 15:32:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 16:00:37 INFO: [Worker 0] Worker 0 house 410 episode 0 object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 16:00:48 INFO: [Worker 0] Batching and saving trajectory data for house_410: 1 episodes	[pipeline.py: 233]
+05/26 16:00:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 16:00:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:00:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_410	[save_utils.py: 703]
+05/26 16:00:53 INFO: [Worker 0] Successfully saved trajectory data for house_410 in 5.79s (batch: 5.64s, save: 0.15s)	[pipeline.py: 280]
+05/26 16:00:55 WARNING: [Worker 0] No trajectory data to save for house_410	[pipeline.py: 229]
+05/26 16:00:55 INFO: [Worker 0] Worker 0 completed house 410: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 16:00:55 INFO: [Worker 0] Worker 0 starting house 491 (index 5/121)	[pipeline.py: 473]
+05/26 16:00:55 INFO: [Worker 0] Loaded 1 episodes for house 491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 16:00:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 16:01:10 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 16:01:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_491_ceiling.xml	[task_sampler.py: 797]
+05/26 16:01:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=491, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:01:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:01:21 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects	[json_eval_task_sampler.py: 686]
+05/26 16:01:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:01:21 INFO: [Worker 0] Sampled task 'Pick up the glossy dark statue of hand and place it next to the soapdispenser'	[task_sampler.py: 1136]
+05/26 16:01:21 INFO: [Worker 0] Worker 0 house 491 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 16:01:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:01:22 WARNING: [Worker 0] Could not find object lettuce_d45ddf7e155b062eff2e56b5c451ed7e_1_0_2 in scene	[object_manager.py: 1238]
+05/26 16:01:22 WARNING: [Worker 0] Could not find object objasyringe_9383ee8738954d21b35962675c11fe84_1_0_5 in scene	[object_manager.py: 1238]
+05/26 16:01:22 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene	[object_manager.py: 1238]
+05/26 16:07:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 16:17:00 INFO: [Worker 0] Worker 0 house 491 episode 0 object statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_2 completed with success=True	[pipeline.py: 1114]
+05/26 16:17:09 INFO: [Worker 0] Batching and saving trajectory data for house_491: 1 episodes	[pipeline.py: 233]
+05/26 16:17:09 INFO: [Worker 0] Preparing episode data: 68 timesteps	[save_utils.py: 284]
+05/26 16:17:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:17:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_491	[save_utils.py: 703]
+05/26 16:17:16 INFO: [Worker 0] Successfully saved trajectory data for house_491 in 7.21s (batch: 7.09s, save: 0.13s)	[pipeline.py: 280]
+05/26 16:17:19 WARNING: [Worker 0] No trajectory data to save for house_491	[pipeline.py: 229]
+05/26 16:17:19 INFO: [Worker 0] Worker 0 completed house 491: 1/1 successful episodes	[pipeline.py: 1243]
+05/26 16:17:19 INFO: [Worker 0] Worker 0 starting house 550 (index 6/121)	[pipeline.py: 473]
+05/26 16:17:19 INFO: [Worker 0] Loaded 1 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 16:17:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 16:17:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_550_ceiling.xml	[task_sampler.py: 797]
+05/26 16:17:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:17:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:17:51 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/26 16:17:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:17:51 INFO: [Worker 0] Sampled task 'Pick up the red party hat with pom-pom and place it next to the dark gray keypad with numbers'	[task_sampler.py: 1136]
+05/26 16:17:51 INFO: [Worker 0] Worker 0 house 550 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 16:17:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:23:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 17:37:46 INFO: [Worker 0] Worker 0 house 550 episode 0 object objapartyhat_bf59a4f1a65647319a28a0ba170db992_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 17:37:54 INFO: [Worker 0] Batching and saving trajectory data for house_550: 1 episodes	[pipeline.py: 233]
+05/26 17:37:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 17:37:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 17:37:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_550	[save_utils.py: 703]
+05/26 17:37:59 INFO: [Worker 0] Successfully saved trajectory data for house_550 in 5.05s (batch: 4.74s, save: 0.31s)	[pipeline.py: 280]
+05/26 17:38:01 WARNING: [Worker 0] No trajectory data to save for house_550	[pipeline.py: 229]
+05/26 17:38:01 INFO: [Worker 0] Worker 0 completed house 550: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 17:38:01 INFO: [Worker 0] Worker 0 starting house 608 (index 7/121)	[pipeline.py: 473]
+05/26 17:38:01 INFO: [Worker 0] Loaded 1 episodes for house 608 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 17:38:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 17:38:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_608_ceiling.xml	[task_sampler.py: 797]
+05/26 17:38:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=608, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 17:38:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 17:38:35 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/26 17:38:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 17:38:35 INFO: [Worker 0] Sampled task 'Pick up the plastic art and place it next to the black glossy fish with forked tail'	[task_sampler.py: 1136]
+05/26 17:38:35 INFO: [Worker 0] Worker 0 house 608 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 17:38:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 17:44:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 18:56:22 INFO: [Worker 0] Worker 0 house 608 episode 0 object objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 18:56:31 INFO: [Worker 0] Batching and saving trajectory data for house_608: 1 episodes	[pipeline.py: 233]
+05/26 18:56:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:56:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_608	[save_utils.py: 703]
+05/26 18:56:37 INFO: [Worker 0] Successfully saved trajectory data for house_608 in 5.95s (batch: 5.57s, save: 0.38s)	[pipeline.py: 280]
+05/26 18:56:39 WARNING: [Worker 0] No trajectory data to save for house_608	[pipeline.py: 229]
+05/26 18:56:39 INFO: [Worker 0] Worker 0 completed house 608: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:56:39 INFO: [Worker 0] Worker 0 starting house 656 (index 8/121)	[pipeline.py: 473]
+05/26 18:56:39 INFO: [Worker 0] Loaded 1 episodes for house 656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03	[json_eval_runner.py: 278]
+05/26 18:56:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 18:57:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_656_ceiling.xml	[task_sampler.py: 797]
+05/26 18:57:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=656, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:57:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:57:11 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 18:57:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:57:11 INFO: [Worker 0] Sampled task 'Pick up the dark nhl pencilcase and place it next to the simple light brown ceramic bowl'	[task_sampler.py: 1136]
+05/26 18:57:11 INFO: [Worker 0] Worker 0 house 656 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:57:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:57:12 WARNING: [Worker 0] Could not find object objacanvas_3ab20a02d16a492e82f8b7691cf8dd22_1_0_2 in scene	[object_manager.py: 1238]
+05/26 19:02:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information
+    observation = self.get_observations()
+                  ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations
+    env_obs = self._sensor_suite.get_observations(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations
+    return {
+           ^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in <dictcomp>
+    uuid: sensor.get_observation(env=env, task=task, **kwargs)  # type: ignore
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation
+    info = task.get_info()[batch_index]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info
+    r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 117, in mesh_aabb
+    aabb_max = np.max(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2810, in max
+    return _wrapreduction(a, np.maximum, 'max', axis, None, out,
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction
+    return ufunc.reduce(obj, axis, dtype, out, **passkwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/episode_results.jsonl

@@ -0,0 +1,117 @@
+{"house_id": "house_1015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate vintage brass bell and place it next to the white quilted pillow", "object_name": "objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1113", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round stone weight with metal ring and place it next to the green plastic spray bottle", "object_name": "objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the red spaceship", "object_name": "objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1140", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the greek kylix and place it next to the small green house plant in pot", "object_name": "objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with engravings and place it next to the soft white pillow with quilting", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1280", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy teal ceramic cat with patterns and place it next to the blue mushroom", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1351", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 263, "task_description": "Pick up the ceramic jug and place it next to the tall dark cup with ridges base", "object_name": "objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1426", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the push-button radio and place it next to the colored hardcover sketchbook", "object_name": "objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compass and place it next to the brown cardboard box", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1695", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the breadstuff and place it next to the bulbous shiny gold metallic vase", "object_name": "objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel with decorative cord and place it next to the ancient fossilized skull", "object_name": "objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1828", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mounting bracket and place it next to the shallow white square bowl", "object_name": "objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red apple and place it next to the red rectangular lucky charms box", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red lighthouse with framework and place it next to the purple spray bottle with nozzle", "object_name": "objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2109", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wood chisel and place it next to the bronze female statue", "object_name": "objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2232", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small brown shrew figure and place it next to the armour plate", "object_name": "objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2342", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown spotted ceramic animal vessel and place it next to the spray bottle", "object_name": "objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2458", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the red spiky spherical virus model", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2498", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige spatula and place it next to the smooth beige egg", "object_name": "objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the bulbous shiny gold vase", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown wooden gavel and place it next to the soap bottle", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2843", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small beige clay tablet with engravings and place it next to the gray sports shoe with black swoosh", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the translucent ergonomic spray bottle", "object_name": "objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dotted sign wall decoration and place it next to the ripe red tomato", "object_name": "objasignage_29124066089941bbb3fa3517a686019c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful geometric molecular model and place it next to the white toy cannon with yellow spirals", "object_name": "objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3239", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth plastic realistic hand model and place it next to the thick hardcover blue book", "object_name": "objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bright yellow crown with text \"barbearia king and place it next to the medium smooth yellow apple with stem", "object_name": "objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3368", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light rectangular amulet with figure and place it next to the gold vase", "object_name": "objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wavy strip with gradient and place it next to the smooth green rectangular pillow cushion", "object_name": "objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic package and place it next to the tall vase with scalloped rim", "object_name": "objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden tool and place it next to the polished smooth rounded blue bowl", "object_name": "objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geologicalspecimen and place it next to the pencil", "object_name": "objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3759", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the denture and place it next to the red lighthouse with framework", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3900", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige ceramic lid with central knob and place it next to the translucent ergonomic spray bottle", "object_name": "objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the glossy wooden tapered cup", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3991", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow clouds and place it next to the modern black faucet with spray", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4028", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lifelike yellow striped wasp model and place it next to the weathered stone disc", "object_name": "objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal pliers tool and place it next to the blue patterned phone", "object_name": "objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4115/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4198", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fresh pineapple with spiky green leaves and place it next to the fresh elongated green romaine lettuce", "object_name": "objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black camera and place it next to the bulbous shiny gold metallic vase", "object_name": "objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown leather high-top boot and place it next to the brown cardboard box open", "object_name": "objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4385", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden hose nozzle and place it next to the apple", "object_name": "objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red keychain and place it next to the smooth yellow egg with black zigzag", "object_name": "objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ginger root and place it next to the blue spray bottle", "object_name": "objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden metallic laurel wreath headpiece and place it next to the vintage metal tag", "object_name": "objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4692", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the conical soap bottle with pump", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4766", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white egg and place it next to the tall dark cup with ridges base", "object_name": "egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4863", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark blue wedge and place it next to the wooden bookmark with butterfly", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4929", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone cup with hole and place it next to the vibrant abstract sculpture with colorful ribbons", "object_name": "objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red plastic cup with white interior and place it next to the pink daisy blooming in pot", "object_name": "objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5130", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical dark nhl pencilcase and place it next to the soapdispenser", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze buckle with cowboy and place it next to the golden brown artisanal loaf of bread", "object_name": "objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5148", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the modern white tape dispenser and place it next to the black radiator with looping copper tubes", "object_name": "objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5186", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cross-shaped metallic connector with holes and place it next to the spherical colorful puzzle ball with patterns", "object_name": "objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5288", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blowtorch and place it next to the realistic pink brain model", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5445", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the aerosol container", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal rod and place it next to the realistic beige saber-toothed cat skull", "object_name": "objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5596", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stone fish decor and place it next to the textured octagonal translucent soap bottle", "object_name": "objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5652", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white decorative corner molding and place it next to the transparent soap bottle with dark pump", "object_name": "objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful geometric molecular model and place it next to the muscleman hanging on yellow rings", "object_name": "objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5867", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it next to the glossy black sign with pink", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5914", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black film camera and place it next to the curved golden prism with ship", "object_name": "objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5914/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6011", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky toy soldier wearing red uniform and place it next to the black classic bar-style mobile phone", "object_name": "objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6100", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue star-shaped mold with patterns and place it next to the tall dark cup with ridges base", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6170", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the decorative goblet with ribbon bow", "object_name": "objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6170/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6250", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn brown work glove with cuff and place it next to the dark gray rounded cast iron pot", "object_name": "objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6293", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metallic disc and place it next to the bulbous shiny gold vase", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6378", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive off-white stone arrowhead tool and place it next to the white hardcover book about programming", "object_name": "objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6378/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6430", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp scissors with blue handles and place it next to the tall dark cup with ridges", "object_name": "objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6533", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gamingmouse and place it next to the faded blue vintage car", "object_name": "objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark nhl pencilcase and place it next to the simple light brown ceramic bowl", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_656/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6672", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown stick and place it next to the brown bread", "object_name": "objastick_973e872f05da428b9594feb65ec42e10_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone hammer with wooden handle and place it next to the metallic brushed stainless steel toaster", "object_name": "objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6858", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ergonomic black handheld scanner and place it next to the blue glossy vase", "object_name": "objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6858/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6934", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 44, "task_description": "Pick up the replica bone and place it next to the pagoda with dragon and chains", "object_name": "objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6995", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large bulbous garlic with dried stem and place it next to the dark gray plate with ridges", "object_name": "objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7065", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark nhl pencilcase and place it next to the vibrant floral mug with handle", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7065/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white candle with number four and place it next to the pink grooved candle on green holder", "object_name": "objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_720", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cellphone and place it next to the bronze full-figured statue", "object_name": "objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7230", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue retro-style cassette player and place it next to the blue square ceramic plate", "object_name": "objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7230/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7333", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white smart speaker with fabric and place it next to the heavily rusted brake caliper pistons", "object_name": "objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butt hinge and place it next to the black white striped decorative award", "object_name": "objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7347", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue wavy porous cleaning sponge and place it next to the cup", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7363", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique hand mirror with floral and place it next to the turquoise toy vehicle with red wheels", "object_name": "objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spherical polished brown wooden yo-yo and place it next to the open brown cardboard box for packaging", "object_name": "objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7504", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black espresso pot and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7504/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7625", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the means and place it next to the gold pump bottle", "object_name": "objatray_b4351af051964283968b5fed441ee844_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_763", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the thick blue hardcover programming book", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7740", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange and green cube and place it next to the gray elongated stone", "object_name": "objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7740/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7841", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver bullet with red band tip and place it next to the rectangular dark gray tufted pillow", "object_name": "objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown clay dish with handle and place it next to the fresh green lettuce with stem", "object_name": "objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7997", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it next to the bronze female statue", "object_name": "Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8098", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the card with pink bow and place it next to the red mechanical glove with blades", "object_name": "objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8183", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray cooking pot and place it next to the brown bread", "object_name": "pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the glossy blue vase", "object_name": "objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_827", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spherical bomb with fuse and place it next to the green spherical topiary", "object_name": "objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8326", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden house keyholder and place it next to the black patterned orb", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8402", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular switch plate and place it next to the small beige clay tablet with engravings", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the squirt gun", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8562", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round white garlic bulb with ridges and place it next to the medium ripe red tomato with stem", "object_name": "objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8689", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the olive scalloped ceramic plate", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal megaphone with handle and place it next to the rusty can", "object_name": "objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black visor cap with colorful letters and place it next to the bear trap", "object_name": "objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sports shoe with black swoosh and place it next to the small beige clay tablet with engravings", "object_name": "objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale bone with small triangular teeth and place it next to the green bronze mask with cutouts", "object_name": "objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown rusty cylindrical vintage oilcan and place it next to the large stainless steel pot", "object_name": "objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9054", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal spring and place it next to the green insect head", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9112", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink orchid branch and place it next to the spray bottle", "object_name": "objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the measuring device and place it next to the small beige clay tablet with engravings", "object_name": "objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9279", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the motion-picture camera and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9343", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the conical purple sweet potato with texture and place it next to the large deep red ripe tomato", "object_name": "objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white candle holder and place it next to the green military helicopter", "object_name": "objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9522", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pale stone and place it next to the pineapple with crown", "object_name": "objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular disc with colorful front design and place it next to the detailed model of horse skull", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray can and place it next to the green mossy strip with jagged edges", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the white and gray modern smart speaker", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9915", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues and place it next to the pink cellphone", "object_name": "objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv

@@ -0,0 +1,114 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.241905,0.0
+latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.172868,0.0
+latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.476721,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.144133,0.0
+latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0
+latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.490091,0.0
+latest,Objabeltbuckle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.416051,0.0
+latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0
+latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0
+latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0
+latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.554892,0.0
+latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.357501,0.0
+latest,Objacassetteplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.074884,0.0
+latest,Objaceramiccat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.421046,0.0
+latest,Objaceramicjug,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.349164,0.0
+latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.092916,0.0
+latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.126939,0.0
+latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.9677,0.0
+latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.888566,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.262391,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.597517,0.0
+latest,Objaconcealedhinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.821918,0.0
+latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.076868,0.0
+latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.007789,0.0
+latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.308981,0.0
+latest,Objadecorativebell,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.124584,11.78064
+latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.883781,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.404085,0.0
+latest,Objadecorativefish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,69.194065,0.0
+latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.356775,0.0
+latest,Objadecorativereplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.259742,0.0
+latest,Objadecorativestrip,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.836644,0.0
+latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.130253,0.0
+latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.239805,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.027271,0.0
+latest,Objadigitalradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.689482,0.0
+latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.869052,0.0
+latest,Objaeducationaltoy,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.081786,12.793365
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/summary.json

@@ -0,0 +1,201 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
+    "success_rate": 0.017094017094017096,
+    "success_count": 2.0,
+    "total_episodes": 117.0,
+    "avg_episode_length": 443.94871794871796,
+    "oracle_done_rate": 0.017094017094017096,
+    "success_rate_pct": 1.71,
+    "oracle_rate_pct": 1.71
+  },
+  "stats": {
+    "total_episodes": 117,
+    "success_count": 2,
+    "failure_count": 115,
+    "success_rate": 0.017094017094017096,
+    "avg_episode_length": 443.94871794871796,
+    "min_episode_length": 44,
+    "max_episode_length": 449,
+    "num_houses": 113,
+    "house_success_rates": {
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+    "oracle_done_count": 2,
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+    "avg_successful_episode_length": 153.5
+  },
+  "success_count": 2,
+  "total_count": 117,
+  "success_rate": 0.017094017094017096,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 2,
+    "total": 117,
+    "success_rate_pct": 1.71,
+    "ci_95_low_pct": 0.53,
+    "ci_95_high_pct": 5.99,
+    "oracle_successes": 2,
+    "oracle_rate_pct": 1.71,
+    "oracle_ci_95_low_pct": 0.53,
+    "oracle_ci_95_high_pct": 5.99,
+    "jerk_joint_mean": 42.137939,
+    "jerk_joint_std": 27.521359
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/episode_results.jsonl

@@ -0,0 +1,117 @@
+{"house_id": "house_1015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate vintage brass bell and place it next to the white quilted pillow", "object_name": "objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1113", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round stone weight with metal ring and place it next to the green plastic spray bottle", "object_name": "objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the red spaceship", "object_name": "objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1140", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the greek kylix and place it next to the small green house plant in pot", "object_name": "objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with engravings and place it next to the soft white pillow with quilting", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1280", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy teal ceramic cat with patterns and place it next to the blue mushroom", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1351", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 263, "task_description": "Pick up the ceramic jug and place it next to the tall dark cup with ridges base", "object_name": "objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1426", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the push-button radio and place it next to the colored hardcover sketchbook", "object_name": "objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compass and place it next to the brown cardboard box", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1695", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the breadstuff and place it next to the bulbous shiny gold metallic vase", "object_name": "objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel with decorative cord and place it next to the ancient fossilized skull", "object_name": "objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1828", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mounting bracket and place it next to the shallow white square bowl", "object_name": "objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red apple and place it next to the red rectangular lucky charms box", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red lighthouse with framework and place it next to the purple spray bottle with nozzle", "object_name": "objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2109", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wood chisel and place it next to the bronze female statue", "object_name": "objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2232", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small brown shrew figure and place it next to the armour plate", "object_name": "objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2342", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown spotted ceramic animal vessel and place it next to the spray bottle", "object_name": "objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2458", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the red spiky spherical virus model", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2498", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige spatula and place it next to the smooth beige egg", "object_name": "objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the bulbous shiny gold vase", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown wooden gavel and place it next to the soap bottle", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2843", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small beige clay tablet with engravings and place it next to the gray sports shoe with black swoosh", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the translucent ergonomic spray bottle", "object_name": "objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dotted sign wall decoration and place it next to the ripe red tomato", "object_name": "objasignage_29124066089941bbb3fa3517a686019c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful geometric molecular model and place it next to the white toy cannon with yellow spirals", "object_name": "objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3239", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth plastic realistic hand model and place it next to the thick hardcover blue book", "object_name": "objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bright yellow crown with text \"barbearia king and place it next to the medium smooth yellow apple with stem", "object_name": "objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3368", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light rectangular amulet with figure and place it next to the gold vase", "object_name": "objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wavy strip with gradient and place it next to the smooth green rectangular pillow cushion", "object_name": "objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic package and place it next to the tall vase with scalloped rim", "object_name": "objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden tool and place it next to the polished smooth rounded blue bowl", "object_name": "objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geologicalspecimen and place it next to the pencil", "object_name": "objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3759", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the denture and place it next to the red lighthouse with framework", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3900", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige ceramic lid with central knob and place it next to the translucent ergonomic spray bottle", "object_name": "objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the glossy wooden tapered cup", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3991", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow clouds and place it next to the modern black faucet with spray", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4028", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lifelike yellow striped wasp model and place it next to the weathered stone disc", "object_name": "objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal pliers tool and place it next to the blue patterned phone", "object_name": "objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4115/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4198", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fresh pineapple with spiky green leaves and place it next to the fresh elongated green romaine lettuce", "object_name": "objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black camera and place it next to the bulbous shiny gold metallic vase", "object_name": "objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown leather high-top boot and place it next to the brown cardboard box open", "object_name": "objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4385", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden hose nozzle and place it next to the apple", "object_name": "objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red keychain and place it next to the smooth yellow egg with black zigzag", "object_name": "objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ginger root and place it next to the blue spray bottle", "object_name": "objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden metallic laurel wreath headpiece and place it next to the vintage metal tag", "object_name": "objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4692", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the conical soap bottle with pump", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4766", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white egg and place it next to the tall dark cup with ridges base", "object_name": "egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4863", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark blue wedge and place it next to the wooden bookmark with butterfly", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4929", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone cup with hole and place it next to the vibrant abstract sculpture with colorful ribbons", "object_name": "objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red plastic cup with white interior and place it next to the pink daisy blooming in pot", "object_name": "objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5130", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical dark nhl pencilcase and place it next to the soapdispenser", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze buckle with cowboy and place it next to the golden brown artisanal loaf of bread", "object_name": "objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5148", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the modern white tape dispenser and place it next to the black radiator with looping copper tubes", "object_name": "objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5186", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cross-shaped metallic connector with holes and place it next to the spherical colorful puzzle ball with patterns", "object_name": "objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5288", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blowtorch and place it next to the realistic pink brain model", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5445", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the aerosol container", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal rod and place it next to the realistic beige saber-toothed cat skull", "object_name": "objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5596", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stone fish decor and place it next to the textured octagonal translucent soap bottle", "object_name": "objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5652", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white decorative corner molding and place it next to the transparent soap bottle with dark pump", "object_name": "objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful geometric molecular model and place it next to the muscleman hanging on yellow rings", "object_name": "objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5867", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it next to the glossy black sign with pink", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5914", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black film camera and place it next to the curved golden prism with ship", "object_name": "objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5914/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6011", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky toy soldier wearing red uniform and place it next to the black classic bar-style mobile phone", "object_name": "objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6100", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue star-shaped mold with patterns and place it next to the tall dark cup with ridges base", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6170", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the decorative goblet with ribbon bow", "object_name": "objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6170/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6250", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn brown work glove with cuff and place it next to the dark gray rounded cast iron pot", "object_name": "objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6293", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metallic disc and place it next to the bulbous shiny gold vase", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6378", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive off-white stone arrowhead tool and place it next to the white hardcover book about programming", "object_name": "objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6378/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6430", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp scissors with blue handles and place it next to the tall dark cup with ridges", "object_name": "objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6533", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gamingmouse and place it next to the faded blue vintage car", "object_name": "objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark nhl pencilcase and place it next to the simple light brown ceramic bowl", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_656/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6672", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown stick and place it next to the brown bread", "object_name": "objastick_973e872f05da428b9594feb65ec42e10_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone hammer with wooden handle and place it next to the metallic brushed stainless steel toaster", "object_name": "objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6858", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ergonomic black handheld scanner and place it next to the blue glossy vase", "object_name": "objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6858/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6934", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 44, "task_description": "Pick up the replica bone and place it next to the pagoda with dragon and chains", "object_name": "objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6995", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large bulbous garlic with dried stem and place it next to the dark gray plate with ridges", "object_name": "objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7065", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark nhl pencilcase and place it next to the vibrant floral mug with handle", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7065/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white candle with number four and place it next to the pink grooved candle on green holder", "object_name": "objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_720", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cellphone and place it next to the bronze full-figured statue", "object_name": "objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7230", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue retro-style cassette player and place it next to the blue square ceramic plate", "object_name": "objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7230/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7333", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white smart speaker with fabric and place it next to the heavily rusted brake caliper pistons", "object_name": "objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butt hinge and place it next to the black white striped decorative award", "object_name": "objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7347", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue wavy porous cleaning sponge and place it next to the cup", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7363", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique hand mirror with floral and place it next to the turquoise toy vehicle with red wheels", "object_name": "objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spherical polished brown wooden yo-yo and place it next to the open brown cardboard box for packaging", "object_name": "objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7504", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black espresso pot and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7504/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7625", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the means and place it next to the gold pump bottle", "object_name": "objatray_b4351af051964283968b5fed441ee844_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_763", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the thick blue hardcover programming book", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7740", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange and green cube and place it next to the gray elongated stone", "object_name": "objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7740/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7841", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver bullet with red band tip and place it next to the rectangular dark gray tufted pillow", "object_name": "objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown clay dish with handle and place it next to the fresh green lettuce with stem", "object_name": "objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7997", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it next to the bronze female statue", "object_name": "Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8098", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the card with pink bow and place it next to the red mechanical glove with blades", "object_name": "objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8183", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray cooking pot and place it next to the brown bread", "object_name": "pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the glossy blue vase", "object_name": "objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_827", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spherical bomb with fuse and place it next to the green spherical topiary", "object_name": "objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8326", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden house keyholder and place it next to the black patterned orb", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8402", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular switch plate and place it next to the small beige clay tablet with engravings", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the squirt gun", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8562", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round white garlic bulb with ridges and place it next to the medium ripe red tomato with stem", "object_name": "objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8689", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the olive scalloped ceramic plate", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal megaphone with handle and place it next to the rusty can", "object_name": "objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black visor cap with colorful letters and place it next to the bear trap", "object_name": "objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sports shoe with black swoosh and place it next to the small beige clay tablet with engravings", "object_name": "objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale bone with small triangular teeth and place it next to the green bronze mask with cutouts", "object_name": "objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown rusty cylindrical vintage oilcan and place it next to the large stainless steel pot", "object_name": "objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9054", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal spring and place it next to the green insect head", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9112", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink orchid branch and place it next to the spray bottle", "object_name": "objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the measuring device and place it next to the small beige clay tablet with engravings", "object_name": "objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9279", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the motion-picture camera and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9343", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the conical purple sweet potato with texture and place it next to the large deep red ripe tomato", "object_name": "objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white candle holder and place it next to the green military helicopter", "object_name": "objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9522", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pale stone and place it next to the pineapple with crown", "object_name": "objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular disc with colorful front design and place it next to the detailed model of horse skull", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray can and place it next to the green mossy strip with jagged edges", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the white and gray modern smart speaker", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9915", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues and place it next to the pink cellphone", "object_name": "objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/results.csv

@@ -0,0 +1,114 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.241905,0.0
+latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.172868,0.0
+latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.476721,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.144133,0.0
+latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0
+latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.490091,0.0
+latest,Objabeltbuckle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.416051,0.0
+latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0
+latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0
+latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0
+latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.554892,0.0
+latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.357501,0.0
+latest,Objacassetteplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.074884,0.0
+latest,Objaceramiccat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.421046,0.0
+latest,Objaceramicjug,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.349164,0.0
+latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.092916,0.0
+latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.126939,0.0
+latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.9677,0.0
+latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.888566,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.262391,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.597517,0.0
+latest,Objaconcealedhinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.821918,0.0
+latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.076868,0.0
+latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.007789,0.0
+latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.308981,0.0
+latest,Objadecorativebell,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.124584,11.78064
+latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.883781,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.404085,0.0
+latest,Objadecorativefish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,69.194065,0.0
+latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.356775,0.0
+latest,Objadecorativereplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.259742,0.0
+latest,Objadecorativestrip,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.836644,0.0
+latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.130253,0.0
+latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.239805,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.027271,0.0
+latest,Objadigitalradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.689482,0.0
+latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.869052,0.0
+latest,Objaeducationaltoy,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.081786,12.793365
+latest,Objafilmcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.69866,0.0
+latest,Objaflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.865625,0.0
+latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.696554,0.0
+latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.862129,0.0
+latest,Objagardengnome,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.226605,1.31339
+latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.937735,0.0
+latest,Objagarlic,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.323631,0.0
+latest,Objagarlicbulb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.342947,0.0
+latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.045723,0.0
+latest,Objagavel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,78.167837,50.934222
+latest,Objagemstone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.654855,0.0
+latest,Objageologicalspecimen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.215621,0.0
+latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.406002,0.0
+latest,Objaglove,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.618043,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.387382,0.0
+latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.818404,0.0
+latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.967566,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.950803,0.0
+latest,Objakeychainholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.694927,0.0
+latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.399247,0.0
+latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.905875,0.0
+latest,Objalighthouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.227568,0.0
+latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.334524,0.0
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+latest,Objametalrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,120.879275,0.0
+latest,Objamobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.096803,0.0
+latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986921,0.0
+latest,Objamold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.769433,0.0
+latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.384084,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.997469,0.0
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+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,78.773444,0.0
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+latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.491923,0.0
+latest,Objaplasticcup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.222361,0.0
+latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.255145,0.0
+latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.901181,0.0
+latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.50514,0.0
+latest,Objapuzzletoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.84765,0.0
+latest,Objareplicabone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,19.591968,0.0
+latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.343935,0.0
+latest,Objasignage,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.288103,8.69206
+latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.561748,0.0
+latest,Objasnackpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.451623,0.0
+latest,Objaspatula,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.122007,0.0
+latest,Objaspike,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,67.945844,42.604601
+latest,Objasportsshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.118138,0.0
+latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.606182,0.0
+latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.129635,0.0
+latest,Objastick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.916169,0.0
+latest,Objastonecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.426503,0.0
+latest,Objastonehammer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.849799,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.025241,0.0
+latest,Objastonetoolreplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.708831,0.0
+latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.883437,0.0
+latest,Objatapedispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.639682,0.0
+latest,Objatissuebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.732401,0.0
+latest,Objatoysoldier,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300159,0.0
+latest,Objatradingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.503162,0.386498
+latest,Objatray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.034727,0.0
+latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.207684,0.0
+latest,Objavisorcap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.716056,0.0
+latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.148439,0.0
+latest,Objawoodentool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.66877,0.0
+latest,Objayoyo,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.895991,0.0
+latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.332986,0.0
+latest,OVERALL,2,117,1.71,0.53,5.99,2,1.71,0.53,5.99,42.137939,27.521359

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/shard_03_results.csv

@@ -0,0 +1,114 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.241905,0.0
+latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.172868,0.0
+latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.476721,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.144133,0.0
+latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0
+latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.490091,0.0
+latest,Objabeltbuckle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.416051,0.0
+latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0
+latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0
+latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0
+latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.554892,0.0
+latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.357501,0.0
+latest,Objacassetteplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.074884,0.0
+latest,Objaceramiccat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.421046,0.0
+latest,Objaceramicjug,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.349164,0.0
+latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.092916,0.0
+latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.126939,0.0
+latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.9677,0.0
+latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.888566,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.262391,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.597517,0.0
+latest,Objaconcealedhinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.821918,0.0
+latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.076868,0.0
+latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.007789,0.0
+latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.308981,0.0
+latest,Objadecorativebell,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.124584,11.78064
+latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.883781,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.404085,0.0
+latest,Objadecorativefish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,69.194065,0.0
+latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.356775,0.0
+latest,Objadecorativereplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.259742,0.0
+latest,Objadecorativestrip,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.836644,0.0
+latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.130253,0.0
+latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.239805,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.027271,0.0
+latest,Objadigitalradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.689482,0.0
+latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.869052,0.0
+latest,Objaeducationaltoy,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.081786,12.793365
+latest,Objafilmcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.69866,0.0
+latest,Objaflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.865625,0.0
+latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.696554,0.0
+latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.862129,0.0
+latest,Objagardengnome,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.226605,1.31339
+latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.937735,0.0
+latest,Objagarlic,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.323631,0.0
+latest,Objagarlicbulb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.342947,0.0
+latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.045723,0.0
+latest,Objagavel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,78.167837,50.934222
+latest,Objagemstone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.654855,0.0
+latest,Objageologicalspecimen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.215621,0.0
+latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.406002,0.0
+latest,Objaglove,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.618043,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.387382,0.0
+latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.818404,0.0
+latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.967566,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.950803,0.0
+latest,Objakeychainholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.694927,0.0
+latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.399247,0.0
+latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.905875,0.0
+latest,Objalighthouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.227568,0.0
+latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.334524,0.0
+latest,Objamegaphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.438371,0.0
+latest,Objametalrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,120.879275,0.0
+latest,Objamobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.096803,0.0
+latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986921,0.0
+latest,Objamold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.769433,0.0
+latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.384084,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.997469,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.472612,0.0
+latest,Objaoilcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.948498,0.0
+latest,Objapacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.214083,0.0
+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,78.773444,0.0
+latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.966733,0.0
+latest,Objapastry,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.663908,0.0
+latest,Objapencilcase,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,47.475016,15.075075
+latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.491923,0.0
+latest,Objaplasticcup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.222361,0.0
+latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.255145,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/summary.json

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pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

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+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
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+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [32,
+                                        61,
+                                        197,
+                                        323,
+                                        426,
+                                        500,
+                                        566,
+                                        610,
+                                        658,
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+                                        9398,
+                                        9491,
+                                        9534,
+                                        9605,
+                                        9673,
+                                        9767,
+                                        9928],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}	[pipeline.py: 1287]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 32 (index 0/121)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_32_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:35 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:36 INFO: [Worker 0] Sampled task 'Pick up the black night goggles and place it next to the pillow'	[task_sampler.py: 1136]
+05/26 12:05:36 INFO: [Worker 0] Worker 0 house 32 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:47:47 INFO: [Worker 0] Worker 0 house 32 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 12:47:56 INFO: [Worker 0] Batching and saving trajectory data for house_32: 1 episodes	[pipeline.py: 233]
+05/26 12:47:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 12:48:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 12:48:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_32	[save_utils.py: 703]
+05/26 12:48:02 INFO: [Worker 0] Successfully saved trajectory data for house_32 in 6.05s (batch: 5.87s, save: 0.18s)	[pipeline.py: 280]
+05/26 12:48:03 WARNING: [Worker 0] No trajectory data to save for house_32	[pipeline.py: 229]
+05/26 12:48:03 INFO: [Worker 0] Worker 0 completed house 32: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 12:48:03 INFO: [Worker 0] Worker 0 starting house 61 (index 1/121)	[pipeline.py: 473]
+05/26 12:48:03 INFO: [Worker 0] Loaded 1 episodes for house 61 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 12:48:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:48:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_61_ceiling.xml	[task_sampler.py: 797]
+05/26 12:48:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=61, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:48:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:48:27 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/26 12:48:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:48:27 INFO: [Worker 0] Sampled task 'Pick up the dark metallic vintage binoculars and place it next to the yellow wooden pencil with pink eraser'	[task_sampler.py: 1136]
+05/26 12:48:27 INFO: [Worker 0] Worker 0 house 61 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:48:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:48:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 14:25:00 INFO: [Worker 0] Worker 0 house 61 episode 0 object objaoperaglasses_637596372c664172915f87d42c73b3f6_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 14:25:07 INFO: [Worker 0] Batching and saving trajectory data for house_61: 1 episodes	[pipeline.py: 233]
+05/26 14:25:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:25:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:25:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_61	[save_utils.py: 703]
+05/26 14:25:17 INFO: [Worker 0] Successfully saved trajectory data for house_61 in 9.54s (batch: 9.28s, save: 0.26s)	[pipeline.py: 280]
+05/26 14:25:19 WARNING: [Worker 0] No trajectory data to save for house_61	[pipeline.py: 229]
+05/26 14:25:19 INFO: [Worker 0] Worker 0 completed house 61: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 14:25:19 INFO: [Worker 0] Worker 0 starting house 197 (index 2/121)	[pipeline.py: 473]
+05/26 14:25:19 INFO: [Worker 0] Loaded 1 episodes for house 197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 14:25:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 14:25:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_197_ceiling.xml	[task_sampler.py: 797]
+05/26 14:25:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=197, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:25:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:25:23 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects	[json_eval_task_sampler.py: 686]
+05/26 14:25:23 WARNING: [Worker 0] Not setting joint of <molmo_spaces.env.data_views.MlSpacesArticulationObject object at 0x7f044e5e8090>	[json_eval_task_sampler.py: 441]
+05/26 14:25:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:25:23 INFO: [Worker 0] Sampled task 'Pick up the dark gray laptop with large screen and place it next to the white ball with text'	[task_sampler.py: 1136]
+05/26 14:25:23 INFO: [Worker 0] Worker 0 house 197 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:25:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 14:25:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 14:48:01 INFO: [Worker 0] Worker 0 house 197 episode 0 object laptop_5ffa33a3308c6355c2dd6972f3f5c950_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 14:48:09 INFO: [Worker 0] Batching and saving trajectory data for house_197: 1 episodes	[pipeline.py: 233]
+05/26 14:48:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:48:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:48:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_197	[save_utils.py: 703]
+05/26 14:48:13 INFO: [Worker 0] Successfully saved trajectory data for house_197 in 4.17s (batch: 3.99s, save: 0.18s)	[pipeline.py: 280]
+05/26 14:48:14 WARNING: [Worker 0] No trajectory data to save for house_197	[pipeline.py: 229]
+05/26 14:48:14 INFO: [Worker 0] Worker 0 completed house 197: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 14:48:14 INFO: [Worker 0] Worker 0 starting house 323 (index 3/121)	[pipeline.py: 473]
+05/26 14:48:14 INFO: [Worker 0] Loaded 1 episodes for house 323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 14:48:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 14:48:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_323_ceiling.xml	[task_sampler.py: 797]
+05/26 14:48:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=323, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:48:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:48:19 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/26 14:48:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:48:19 INFO: [Worker 0] Sampled task 'Pick up the terracotta pot with seedling and place it next to the translucent ergonomic spray bottle'	[task_sampler.py: 1136]
+05/26 14:48:19 INFO: [Worker 0] Worker 0 house 323 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:48:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 14:53:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 15:30:53 INFO: [Worker 0] Worker 0 house 323 episode 0 object objaplantpot_51030882447e428a8efec83649ee3172_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 15:31:02 INFO: [Worker 0] Batching and saving trajectory data for house_323: 1 episodes	[pipeline.py: 233]
+05/26 15:31:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 15:31:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 15:31:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_323	[save_utils.py: 703]
+05/26 15:31:10 INFO: [Worker 0] Successfully saved trajectory data for house_323 in 8.27s (batch: 7.90s, save: 0.37s)	[pipeline.py: 280]
+05/26 15:31:12 WARNING: [Worker 0] No trajectory data to save for house_323	[pipeline.py: 229]
+05/26 15:31:12 INFO: [Worker 0] Worker 0 completed house 323: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 15:31:12 INFO: [Worker 0] Worker 0 starting house 426 (index 4/121)	[pipeline.py: 473]
+05/26 15:31:12 INFO: [Worker 0] Loaded 1 episodes for house 426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 15:31:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 15:31:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_426_ceiling.xml	[task_sampler.py: 797]
+05/26 15:31:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=426, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 15:31:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 15:31:25 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects	[json_eval_task_sampler.py: 686]
+05/26 15:31:25 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 15:31:25 INFO: [Worker 0] Sampled task 'Pick up the golden warrior statue with ornate armor and place it next to the white vase'	[task_sampler.py: 1136]
+05/26 15:31:25 INFO: [Worker 0] Worker 0 house 426 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 15:31:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 15:37:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 16:24:14 INFO: [Worker 0] Worker 0 house 426 episode 0 object objastatue_8c6fcf525c9e4cc193247ffa8103b0ba_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 16:24:22 INFO: [Worker 0] Batching and saving trajectory data for house_426: 1 episodes	[pipeline.py: 233]
+05/26 16:24:22 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 16:24:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:24:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_426	[save_utils.py: 703]
+05/26 16:24:27 INFO: [Worker 0] Successfully saved trajectory data for house_426 in 5.16s (batch: 4.81s, save: 0.35s)	[pipeline.py: 280]
+05/26 16:24:29 WARNING: [Worker 0] No trajectory data to save for house_426	[pipeline.py: 229]
+05/26 16:24:29 INFO: [Worker 0] Worker 0 completed house 426: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 16:24:29 INFO: [Worker 0] Worker 0 starting house 500 (index 5/121)	[pipeline.py: 473]
+05/26 16:24:29 INFO: [Worker 0] Loaded 1 episodes for house 500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 16:24:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 16:24:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_500_ceiling.xml	[task_sampler.py: 797]
+05/26 16:24:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=500, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:24:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:24:44 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/26 16:24:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:24:44 INFO: [Worker 0] Sampled task 'Pick up the white ceramic vase with subtle ridges and place it next to the blue toaster appliance'	[task_sampler.py: 1136]
+05/26 16:24:44 INFO: [Worker 0] Worker 0 house 500 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 16:24:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:30:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 17:36:24 INFO: [Worker 0] Worker 0 house 500 episode 0 object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 17:36:33 INFO: [Worker 0] Batching and saving trajectory data for house_500: 1 episodes	[pipeline.py: 233]
+05/26 17:36:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 17:36:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 17:36:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_500	[save_utils.py: 703]
+05/26 17:36:41 INFO: [Worker 0] Successfully saved trajectory data for house_500 in 8.40s (batch: 7.93s, save: 0.47s)	[pipeline.py: 280]
+05/26 17:36:44 WARNING: [Worker 0] No trajectory data to save for house_500	[pipeline.py: 229]
+05/26 17:36:44 INFO: [Worker 0] Worker 0 completed house 500: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 17:36:44 INFO: [Worker 0] Worker 0 starting house 566 (index 6/121)	[pipeline.py: 473]
+05/26 17:36:44 INFO: [Worker 0] Loaded 1 episodes for house 566 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 17:36:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 17:37:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_566_ceiling.xml	[task_sampler.py: 797]
+05/26 17:37:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=566, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 17:37:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 17:37:11 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/26 17:37:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 17:37:11 INFO: [Worker 0] Sampled task 'Pick up the colorful toy green dinosaur and place it next to the glossy white bowl'	[task_sampler.py: 1136]
+05/26 17:37:11 INFO: [Worker 0] Worker 0 house 566 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 17:37:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 17:37:11 WARNING: [Worker 0] Could not find object objagardenshears_1d4fe5065cf7492b81c3968832e233e9_1_0_2 in scene	[object_manager.py: 1238]
+05/26 17:37:11 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_2 in scene	[object_manager.py: 1238]
+05/26 17:37:11 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_9 in scene	[object_manager.py: 1238]
+05/26 17:37:11 WARNING: [Worker 0] Could not find object objadecorativekey_eaf2652babd44115843ad48369184819_1_0_9 in scene	[object_manager.py: 1238]
+05/26 17:37:11 WARNING: [Worker 0] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_9 in scene	[object_manager.py: 1238]
+05/26 17:42:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 18:57:21 INFO: [Worker 0] Worker 0 house 566 episode 0 object objatoydinosaur_540b8cb4e3244b2197d548b6400c80ee_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 18:57:27 INFO: [Worker 0] Batching and saving trajectory data for house_566: 1 episodes	[pipeline.py: 233]
+05/26 18:57:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:57:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_566	[save_utils.py: 703]
+05/26 18:57:34 INFO: [Worker 0] Successfully saved trajectory data for house_566 in 6.05s (batch: 5.75s, save: 0.30s)	[pipeline.py: 280]
+05/26 18:57:35 WARNING: [Worker 0] No trajectory data to save for house_566	[pipeline.py: 229]
+05/26 18:57:35 INFO: [Worker 0] Worker 0 completed house 566: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:57:35 INFO: [Worker 0] Worker 0 starting house 610 (index 7/121)	[pipeline.py: 473]
+05/26 18:57:35 INFO: [Worker 0] Loaded 1 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04	[json_eval_runner.py: 278]
+05/26 18:57:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 18:58:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_610_ceiling.xml	[task_sampler.py: 797]
+05/26 18:58:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:58:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:58:29 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/26 18:58:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:58:29 INFO: [Worker 0] Sampled task 'Pick up the round dish with handle and pattern and place it next to the brown bread'	[task_sampler.py: 1136]
+05/26 18:58:29 INFO: [Worker 0] Worker 0 house 610 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:58:29 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:58:30 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_6 in scene	[object_manager.py: 1238]
+05/26 18:58:30 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_2_0_9 in scene	[object_manager.py: 1238]
+05/26 19:03:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information
+    success = np.full(terminated.shape, fill_value=self.judge_success())
+                                                   ^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success
+    return self.get_info()[0]["success"]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info
+    p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb
+    aabb_min = np.min(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2953, in min
+    return _wrapreduction(a, np.minimum, 'min', axis, None, out,
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction
+    return ufunc.reduce(obj, axis, dtype, out, **passkwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/episode_results.jsonl

@@ -0,0 +1,118 @@
+{"house_id": "house_1016", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with sharp edges and place it next to the small shiny gold dog statue", "object_name": "objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1129", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic frame and place it next to the black beanie with green gold pattern", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1215", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat handle and place it next to the purple bottle", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive green hand smoke grenade and place it next to the laptop computer", "object_name": "objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1357", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black virtual headset and place it next to the yellow device", "object_name": "objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the dark gray metal shackle with orange pin", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle and place it next to the soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone tray and place it next to the medium dark metal cooking pot", "object_name": "objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular box of pasta and place it next to the soap bottle", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black night vision scope and place it next to the smart display device", "object_name": "objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the blue rounded pot with handles and straps", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1862", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the soap dispenser", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1937", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tissue paper and place it next to the purple spray bottle with white nozzle", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2034", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant magenta coil spring on base and place it next to the cassetteplayer", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed brass bullet with tip and place it next to the gold vintage camera", "object_name": "objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2245", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden hose connector and place it next to the thick yellow hardcover book", "object_name": "objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2360", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paint roller with textured off-white head and place it next to the white ceramic vase with subtle ridges", "object_name": "objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium smooth red apple and place it next to the crumpled white plastic bag with stains", "object_name": "apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old-fashioned metal pencil sharpener and place it next to the round brown bread loaf domed", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2638", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple plastic spray bottle with trigger and place it next to the blue toaster with two slots", "object_name": "atomizer_834d386e080077accc22e6eae5471528_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2775", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oblong brown potato with blemishes and place it next to the antique cannon model", "object_name": "objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with black decorative rectangles and place it next to the laptop computer", "object_name": "objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2948", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the deer bust with red collar and place it next to the yellow handled kitchen knife", "object_name": "objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3052", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray paint can and place it next to the olive scalloped ceramic plate", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the futuristic device and place it next to the blue soap bottle", "object_name": "objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it next to the gray butterfly with geometric patterns", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3284", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy deep red arrow sign and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3373", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 44, "task_description": "Pick up the vintage desk calendar with handle and place it next to the dark gray laptop with keyboard", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curled vintage ribbon with text and place it next to the small dark brown potato", "object_name": "objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3420/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3515", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transceiver and place it next to the weathered metallic electrical box with handle", "object_name": "objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3626", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cordless grinder and place it next to the house plant", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3721", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the striped teacup and place it next to the smooth red apple", "object_name": "objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3721/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3763", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the photographic camera and place it next to the bulbous shiny gold metallic vase", "object_name": "objacamera_6932f08350dc47179ec8dd1ac0d18ce8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3763/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3908", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and white athletic shoe and place it next to the guitar effects pedal", "object_name": "objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray cylindrical metal coil spring and place it next to the instrumentation", "object_name": "objaspring_3071830f2d3e4b57a59976719298c808_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4019", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the dark gray cylindrical metal coil spring", "object_name": "objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic effects pedal and place it next to the gray dispenser with metallic tip", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black capsule and place it next to the voxel gray medieval cannon", "object_name": "objacapsule_870611a797c1472197872d137247a094_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4132/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it next to the curved off-white jawbone with teeth", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4273", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal hinge and place it next to the tall copper cup with ridges", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bold multicolored eyeglasses with rectangular openings and place it next to the open brown cardboard storage box", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4320/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4396", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black metal locking pliers and place it next to the smooth medium red apple", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4396/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharpeningsteel and place it next to the gray pigeon with spread wings", "object_name": "objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4584", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with aged label and place it next to the decorative yellow striped fish", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4584/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink scepter with wings and gold and place it next to the shiny smooth red apple", "object_name": "objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4706", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular white sandwich and place it next to the rectangular transparent soap bottle", "object_name": "objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange envelope with currency seal and place it next to the pear-shaped beige ceramic hanging weight", "object_name": "objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4774/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4867", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink card with bow and flowers and place it next to the large winged fierce dragon model", "object_name": "objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cellphone and place it next to the breadstuff", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5038", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent blue capsule and place it next to the smooth yellow apple with stem", "object_name": "objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5038/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5131", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray triangular rugged stone tool and place it next to the ornate golden mirror with purple surface", "object_name": "objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5193", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the aerosol bomb and place it next to the blue spray bottle", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white can and place it next to the smooth rounded ceramic bowl with rim", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5319/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5449", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the square blue plate and place it next to the vintage green military radio with handle", "object_name": "plate_838def382388bb29da57a8cddc03b072_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5449/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5539", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular disc with colorful front design and place it next to the bulbous shiny gold vase", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue emblem with metallic a and text and place it next to the cream candle in blue holder", "object_name": "objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gemstone and place it next to the smooth shallow light brown bowl", "object_name": "objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5758", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the matte dark gray bowl", "object_name": "objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5880", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular alarm clock with knob and place it next to the iridescent translucent blue star ornament", "object_name": "alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5880/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5915", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the storage device and place it next to the ornate vintage brass bell", "object_name": "objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden needle with hole and place it next to the handheld drill", "object_name": "objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6072", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal drafting compass with handle and place it next to the black gas mask with cross symbol", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6072", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpled silver metallic foil and place it next to the switch plate", "object_name": "objafoil_67f6e895f5f34572afc152008228d819_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dish with handle and pattern and place it next to the brown bread", "object_name": "objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6102", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green artificial aloe plant and place it next to the translucent plastic ergonomic spray bottle", "object_name": "objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6102/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6199", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fresh ginger root with colorful shoots and place it next to the rectangular red metal toaster with controls", "object_name": "objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6252", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps and place it next to the round loaf with brown crust", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6298", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 116, "task_description": "Pick up the terracotta owl vessel with spout and place it next to the blue toy monster truck", "object_name": "objavessel_8bd6e267f265481682e17f696b201103_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6298/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stylized blue fish with yellow fins and place it next to the fresh green spherical head lettuce", "object_name": "objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6438", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand tool and place it next to the chunky pink and white knitted beanie", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6538", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated rough dried fish and place it next to the tall dark cup", "object_name": "objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6538/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_658", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soldering iron and place it next to the smooth white ceramic serving bowl", "object_name": "objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6696", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white stand with flag and place it next to the white analog stopwatch", "object_name": "objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6758", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metallic coil spring cylinder and place it next to the sleek adjustable black silver arm", "object_name": "objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6758/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6883", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the promotional sign and place it next to the soapdispenser", "object_name": "objasign_391b2617850d489e8e717d00c24eada6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6937", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the jagged white marble piece with veins and place it next to the green hardcover book titled the effective engineer", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7012", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round ceramic plate with floral pattern and place it next to the golden brown artisanal loaf of bread", "object_name": "objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7012/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7066", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shallow metal pot and place it next to the white ceramic bowl", "object_name": "pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth elongated green cucumber and place it next to the brown goblet", "object_name": "objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_721", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 170, "task_description": "Pick up the vintage microphone with mesh and place it next to the wide flat greenish-gold vase", "object_name": "objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_721/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7272", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesive tape and place it next to the conical soap bottle with pump", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small dark egyptian figure statuette and place it next to the crockery", "object_name": "objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7375", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the blue soap bottle with orange pump", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7375/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7448", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange toy raygun and place it next to the detailed scale model commercial building", "object_name": "objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth off-white dog bone toy and place it next to the stylized red flower with green leaves", "object_name": "objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vintage camera with rainbow stripe and place it next to the gold pump bottle", "object_name": "objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7631/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stereo system and place it next to the brown leather football with laces", "object_name": "objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy colorful rubik's cube puzzle and place it next to the brown wooden bowl", "object_name": "objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7843", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue four-sided die and place it next to the blue liquid bottle", "object_name": "objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7843/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7929", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green circuit board with labeled connectors and place it next to the yellow rectangular box with branding", "object_name": "objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8008", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large stainless steel cooking pot and place it next to the blue ceramic plate", "object_name": "pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8063", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the bulbous shiny gold vase", "object_name": "objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8063", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white modern electric iron and place it next to the rectangular plaque with astronaut design", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8111", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium red tomato with small stem and place it next to the fresh green lettuce head with stem", "object_name": "tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the roll of light brown adhesive tape and place it next to the miniature pink torii gate with gray top", "object_name": "objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8254", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal frying pan with handle and place it next to the gray spray bottle", "object_name": "cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red star goblet and place it next to the long slender brown wooden piece", "object_name": "objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8407", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the munition and place it next to the black cat with purple ears and tail", "object_name": "objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8483", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige windmill with blue roof and place it next to the olive green clamp with grip", "object_name": "objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle and place it next to the glossy red tomato with twisting stem", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red hand drill with gear and place it next to the slim dark cellphone with buttons", "object_name": "objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8693", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn notebook with stickers and place it next to the moka pot", "object_name": "objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the food packet and place it next to the brown bread", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8866", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hiking shoe and place it next to the miniature tower", "object_name": "objahikingshoe_36cf424a356146249c8043410083858f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic bold three-dimensional nameplate and place it next to the alarmclock", "object_name": "objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8996", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the transparent conical cup with base", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9058", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated red pepper with stem and place it next to the smooth glossy red tomato", "object_name": "objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold black toy robot and place it next to the book", "object_name": "objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the locking pliers and place it next to the green glossy cup with spherical base", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange wand and place it next to the vintage metal lever on dark wooden base", "object_name": "objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9296", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow energy cell with text and place it next to the black cylinder", "object_name": "objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9398", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black spinning top and place it next to the gold metallic phone", "object_name": "objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic windmill and place it next to the blue square plate with hexagons", "object_name": "objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9534", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal multitool and place it next to the spray bottle", "object_name": "objamultitool_d9de978241864228829edcf061a8ce64_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9605", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black magician's wand with white tips and place it next to the soap dispenser", "object_name": "objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9673", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold patterned ocarina and place it next to the small ceramic church model with steeple", "object_name": "objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed silver blade garden trowel and place it next to the black magnifying glass with handle", "object_name": "objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray compact device with pink strap and place it next to the dark muscular statue standing dynamically", "object_name": "objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv

@@ -0,0 +1,113 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.822724,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.239542,0.0
+latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.751784,0.0
+latest,Fruit,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.903091,18.459919
+latest,Objaadhesivetape,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.162194,11.374243
+latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.942649,0.0
+latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.150332,0.0
+latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.897499,0.0
+latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0
+latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.41244,0.0
+latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0
+latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0
+latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0
+latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0
+latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.353455,0.0
+latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.340634,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.860653,0.0
+latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.516872,0.0
+latest,Objacapsule,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.090644,16.431368
+latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0
+latest,Objacircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.658052,0.0
+latest,Objacoilspring,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.811946,22.071752
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.23356,0.0
+latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.80468,0.0
+latest,Objadecorativebust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.894351,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.831684,0.0
+latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.749984,0.0
+latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.65253,0.0
+latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.492354,0.0
+latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.962216,0.0
+latest,Objadecorativewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.705115,0.0
+latest,Objadeskcalendar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.439571,0.0
+latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.651218,0.0
+latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.085562,0.0
+latest,Objadogtoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.713593,0.0
+latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99114,0.0
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.193457,0.0
+latest,Objaenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.551982,0.0
+latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.448689,0.0
+latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.354923,0.0
+latest,Objaflowerpot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.921984,13.826309
+latest,Objafoil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.050806,0.0
+latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.434078,0.0
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.981351,0.0
+latest,Objagardenhoseconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.237508,0.0
+latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.631767,0.0
+latest,Objagemstone,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,16.234604,5.571044
+latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.475933,0.0
+latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.815243,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.667923,0.0
+latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.675271,0.0
+latest,Objahandgrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.757178,0.0
+latest,Objahandhelddevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.950128,8.353675
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.499711,0.0
+latest,Objahikingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.461603,0.0
+latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.50179,0.0
+latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.471237,0.0
+latest,Objalockingpliers,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.279014,9.118941
+latest,Objamagicwand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.965022,0.0
+latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.609271,0.0
+latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.811274,0.0
+latest,Objametalplate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.647564,39.093608
+latest,Objamicrophone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.624849,0.0
+latest,Objaminiaturewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.5531,0.0
+latest,Objaminidvtape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.184465,0.0
+latest,Objamultitool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.762285,0.0
+latest,Objanameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.4484,0.0
+latest,Objaneedle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.964365,0.0
+latest,Objanetworkdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.586819,0.0
+latest,Objanightvisionscope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.647706,0.0
+latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.034395,0.0
+latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.927012,0.0
+latest,Objapaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.380873,0.0
+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.293721,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.841398,0.0
+latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986973,0.0
+latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,91.406093,0.0
+latest,Objapotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.691302,0.0
+latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.158184,0.0
+latest,Objasandwich,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.12107,0.0
+latest,Objascepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.546187,0.0
+latest,Objaservingdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.481704,0.0
+latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.231807,0.0
+latest,Objasharpeningsteel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.266003,0.0
+latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.211543,0.0
+latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.833151,0.0
+latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.514986,0.0
+latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.429639,0.0
+latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.989865,0.0
+latest,Objastatuette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.147182,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.400242,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.713207,0.0
+latest,Objastonetray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.880208,0.0
+latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.369807,0.0
+latest,Objatoiletpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.01025,0.0
+latest,Objatoyfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.114979,0.0
+latest,Objatoyraygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.682415,0.0
+latest,Objatoyrobot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.676033,0.0
+latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.762505,0.0
+latest,Objavessel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,39.171979,0.0
+latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.611618,0.0
+latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.572442,0.0
+latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.015841,0.0
+latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.225516,0.0
+latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.043026,0.0
+latest,Pot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.077061,21.026252
+latest,Spray Bottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,83.986722,37.176374
+latest,OVERALL,3,118,2.54,0.92,7.19,3,2.54,0.92,7.19,40.479589,23.347604

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/summary.json

@@ -0,0 +1,202 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
+    "success_rate": 0.025423728813559324,
+    "success_count": 3.0,
+    "total_episodes": 118.0,
+    "avg_episode_length": 440.3813559322034,
+    "oracle_done_rate": 0.025423728813559324,
+    "success_rate_pct": 2.54,
+    "oracle_rate_pct": 2.54
+  },
+  "stats": {
+    "total_episodes": 118,
+    "success_count": 3,
+    "failure_count": 115,
+    "success_rate": 0.025423728813559324,
+    "avg_episode_length": 440.3813559322034,
+    "min_episode_length": 44,
+    "max_episode_length": 449,
+    "num_houses": 114,
+    "house_success_rates": {
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+    },
+    "oracle_done_count": 3,
+    "oracle_done_rate": 0.025423728813559324,
+    "avg_successful_episode_length": 110.0
+  },
+  "success_count": 3,
+  "total_count": 118,
+  "success_rate": 0.025423728813559324,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 3,
+    "total": 118,
+    "success_rate_pct": 2.54,
+    "ci_95_low_pct": 0.92,
+    "ci_95_high_pct": 7.19,
+    "oracle_successes": 3,
+    "oracle_rate_pct": 2.54,
+    "oracle_ci_95_low_pct": 0.92,
+    "oracle_ci_95_high_pct": 7.19,
+    "jerk_joint_mean": 40.479589,
+    "jerk_joint_std": 23.347604
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/episode_results.jsonl

@@ -0,0 +1,118 @@
+{"house_id": "house_1016", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with sharp edges and place it next to the small shiny gold dog statue", "object_name": "objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1129", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic frame and place it next to the black beanie with green gold pattern", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1215", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat handle and place it next to the purple bottle", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive green hand smoke grenade and place it next to the laptop computer", "object_name": "objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1357", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black virtual headset and place it next to the yellow device", "object_name": "objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the dark gray metal shackle with orange pin", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle and place it next to the soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone tray and place it next to the medium dark metal cooking pot", "object_name": "objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular box of pasta and place it next to the soap bottle", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black night vision scope and place it next to the smart display device", "object_name": "objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the blue rounded pot with handles and straps", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1862", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the soap dispenser", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1937", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tissue paper and place it next to the purple spray bottle with white nozzle", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2034", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant magenta coil spring on base and place it next to the cassetteplayer", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed brass bullet with tip and place it next to the gold vintage camera", "object_name": "objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2245", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden hose connector and place it next to the thick yellow hardcover book", "object_name": "objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2360", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paint roller with textured off-white head and place it next to the white ceramic vase with subtle ridges", "object_name": "objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium smooth red apple and place it next to the crumpled white plastic bag with stains", "object_name": "apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old-fashioned metal pencil sharpener and place it next to the round brown bread loaf domed", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2638", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple plastic spray bottle with trigger and place it next to the blue toaster with two slots", "object_name": "atomizer_834d386e080077accc22e6eae5471528_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2775", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oblong brown potato with blemishes and place it next to the antique cannon model", "object_name": "objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with black decorative rectangles and place it next to the laptop computer", "object_name": "objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2948", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the deer bust with red collar and place it next to the yellow handled kitchen knife", "object_name": "objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3052", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray paint can and place it next to the olive scalloped ceramic plate", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the futuristic device and place it next to the blue soap bottle", "object_name": "objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it next to the gray butterfly with geometric patterns", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3284", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy deep red arrow sign and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3373", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 44, "task_description": "Pick up the vintage desk calendar with handle and place it next to the dark gray laptop with keyboard", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curled vintage ribbon with text and place it next to the small dark brown potato", "object_name": "objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3420/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3515", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transceiver and place it next to the weathered metallic electrical box with handle", "object_name": "objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3626", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cordless grinder and place it next to the house plant", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3721", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the striped teacup and place it next to the smooth red apple", "object_name": "objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3721/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3763", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the photographic camera and place it next to the bulbous shiny gold metallic vase", "object_name": "objacamera_6932f08350dc47179ec8dd1ac0d18ce8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3763/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3908", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and white athletic shoe and place it next to the guitar effects pedal", "object_name": "objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray cylindrical metal coil spring and place it next to the instrumentation", "object_name": "objaspring_3071830f2d3e4b57a59976719298c808_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4019", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the dark gray cylindrical metal coil spring", "object_name": "objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic effects pedal and place it next to the gray dispenser with metallic tip", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black capsule and place it next to the voxel gray medieval cannon", "object_name": "objacapsule_870611a797c1472197872d137247a094_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4132/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it next to the curved off-white jawbone with teeth", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4273", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal hinge and place it next to the tall copper cup with ridges", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bold multicolored eyeglasses with rectangular openings and place it next to the open brown cardboard storage box", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4320/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4396", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black metal locking pliers and place it next to the smooth medium red apple", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4396/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharpeningsteel and place it next to the gray pigeon with spread wings", "object_name": "objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4584", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with aged label and place it next to the decorative yellow striped fish", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4584/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink scepter with wings and gold and place it next to the shiny smooth red apple", "object_name": "objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4706", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular white sandwich and place it next to the rectangular transparent soap bottle", "object_name": "objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange envelope with currency seal and place it next to the pear-shaped beige ceramic hanging weight", "object_name": "objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4774/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4867", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink card with bow and flowers and place it next to the large winged fierce dragon model", "object_name": "objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cellphone and place it next to the breadstuff", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5038", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent blue capsule and place it next to the smooth yellow apple with stem", "object_name": "objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5038/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5131", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray triangular rugged stone tool and place it next to the ornate golden mirror with purple surface", "object_name": "objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5193", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the aerosol bomb and place it next to the blue spray bottle", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white can and place it next to the smooth rounded ceramic bowl with rim", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5319/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5449", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the square blue plate and place it next to the vintage green military radio with handle", "object_name": "plate_838def382388bb29da57a8cddc03b072_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5449/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5539", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular disc with colorful front design and place it next to the bulbous shiny gold vase", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue emblem with metallic a and text and place it next to the cream candle in blue holder", "object_name": "objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gemstone and place it next to the smooth shallow light brown bowl", "object_name": "objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5758", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the matte dark gray bowl", "object_name": "objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5880", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular alarm clock with knob and place it next to the iridescent translucent blue star ornament", "object_name": "alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5880/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5915", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the storage device and place it next to the ornate vintage brass bell", "object_name": "objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden needle with hole and place it next to the handheld drill", "object_name": "objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6072", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal drafting compass with handle and place it next to the black gas mask with cross symbol", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6072", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpled silver metallic foil and place it next to the switch plate", "object_name": "objafoil_67f6e895f5f34572afc152008228d819_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dish with handle and pattern and place it next to the brown bread", "object_name": "objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6102", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green artificial aloe plant and place it next to the translucent plastic ergonomic spray bottle", "object_name": "objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6102/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6199", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fresh ginger root with colorful shoots and place it next to the rectangular red metal toaster with controls", "object_name": "objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6252", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps and place it next to the round loaf with brown crust", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6298", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 116, "task_description": "Pick up the terracotta owl vessel with spout and place it next to the blue toy monster truck", "object_name": "objavessel_8bd6e267f265481682e17f696b201103_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6298/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stylized blue fish with yellow fins and place it next to the fresh green spherical head lettuce", "object_name": "objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6438", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand tool and place it next to the chunky pink and white knitted beanie", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6538", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated rough dried fish and place it next to the tall dark cup", "object_name": "objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6538/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_658", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soldering iron and place it next to the smooth white ceramic serving bowl", "object_name": "objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6696", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white stand with flag and place it next to the white analog stopwatch", "object_name": "objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6758", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metallic coil spring cylinder and place it next to the sleek adjustable black silver arm", "object_name": "objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6758/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6883", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the promotional sign and place it next to the soapdispenser", "object_name": "objasign_391b2617850d489e8e717d00c24eada6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6937", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the jagged white marble piece with veins and place it next to the green hardcover book titled the effective engineer", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7012", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round ceramic plate with floral pattern and place it next to the golden brown artisanal loaf of bread", "object_name": "objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7012/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7066", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shallow metal pot and place it next to the white ceramic bowl", "object_name": "pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth elongated green cucumber and place it next to the brown goblet", "object_name": "objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_721", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 170, "task_description": "Pick up the vintage microphone with mesh and place it next to the wide flat greenish-gold vase", "object_name": "objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_721/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7272", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesive tape and place it next to the conical soap bottle with pump", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small dark egyptian figure statuette and place it next to the crockery", "object_name": "objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7375", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the blue soap bottle with orange pump", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7375/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7448", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange toy raygun and place it next to the detailed scale model commercial building", "object_name": "objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth off-white dog bone toy and place it next to the stylized red flower with green leaves", "object_name": "objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vintage camera with rainbow stripe and place it next to the gold pump bottle", "object_name": "objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7631/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stereo system and place it next to the brown leather football with laces", "object_name": "objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy colorful rubik's cube puzzle and place it next to the brown wooden bowl", "object_name": "objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7843", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue four-sided die and place it next to the blue liquid bottle", "object_name": "objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7843/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7929", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green circuit board with labeled connectors and place it next to the yellow rectangular box with branding", "object_name": "objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8008", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large stainless steel cooking pot and place it next to the blue ceramic plate", "object_name": "pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8063", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the bulbous shiny gold vase", "object_name": "objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8063", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white modern electric iron and place it next to the rectangular plaque with astronaut design", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8111", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium red tomato with small stem and place it next to the fresh green lettuce head with stem", "object_name": "tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the roll of light brown adhesive tape and place it next to the miniature pink torii gate with gray top", "object_name": "objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8254", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal frying pan with handle and place it next to the gray spray bottle", "object_name": "cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red star goblet and place it next to the long slender brown wooden piece", "object_name": "objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8407", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the munition and place it next to the black cat with purple ears and tail", "object_name": "objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8483", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige windmill with blue roof and place it next to the olive green clamp with grip", "object_name": "objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle and place it next to the glossy red tomato with twisting stem", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red hand drill with gear and place it next to the slim dark cellphone with buttons", "object_name": "objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8693", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn notebook with stickers and place it next to the moka pot", "object_name": "objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the food packet and place it next to the brown bread", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8866", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hiking shoe and place it next to the miniature tower", "object_name": "objahikingshoe_36cf424a356146249c8043410083858f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic bold three-dimensional nameplate and place it next to the alarmclock", "object_name": "objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8996", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the transparent conical cup with base", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9058", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated red pepper with stem and place it next to the smooth glossy red tomato", "object_name": "objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold black toy robot and place it next to the book", "object_name": "objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the locking pliers and place it next to the green glossy cup with spherical base", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange wand and place it next to the vintage metal lever on dark wooden base", "object_name": "objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9296", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow energy cell with text and place it next to the black cylinder", "object_name": "objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9398", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black spinning top and place it next to the gold metallic phone", "object_name": "objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic windmill and place it next to the blue square plate with hexagons", "object_name": "objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9534", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal multitool and place it next to the spray bottle", "object_name": "objamultitool_d9de978241864228829edcf061a8ce64_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9605", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black magician's wand with white tips and place it next to the soap dispenser", "object_name": "objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9673", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold patterned ocarina and place it next to the small ceramic church model with steeple", "object_name": "objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed silver blade garden trowel and place it next to the black magnifying glass with handle", "object_name": "objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray compact device with pink strap and place it next to the dark muscular statue standing dynamically", "object_name": "objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/results.csv

@@ -0,0 +1,113 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.822724,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.239542,0.0
+latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.751784,0.0
+latest,Fruit,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.903091,18.459919
+latest,Objaadhesivetape,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.162194,11.374243
+latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.942649,0.0
+latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.150332,0.0
+latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.897499,0.0
+latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0
+latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.41244,0.0
+latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0
+latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0
+latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0
+latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0
+latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.353455,0.0
+latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.340634,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.860653,0.0
+latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.516872,0.0
+latest,Objacapsule,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.090644,16.431368
+latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0
+latest,Objacircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.658052,0.0
+latest,Objacoilspring,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.811946,22.071752
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.23356,0.0
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+latest,Objadecorativebust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.894351,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.831684,0.0
+latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.749984,0.0
+latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.65253,0.0
+latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.492354,0.0
+latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.962216,0.0
+latest,Objadecorativewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.705115,0.0
+latest,Objadeskcalendar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.439571,0.0
+latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.651218,0.0
+latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.085562,0.0
+latest,Objadogtoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.713593,0.0
+latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99114,0.0
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.193457,0.0
+latest,Objaenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.551982,0.0
+latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.448689,0.0
+latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.354923,0.0
+latest,Objaflowerpot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.921984,13.826309
+latest,Objafoil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.050806,0.0
+latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.434078,0.0
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.981351,0.0
+latest,Objagardenhoseconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.237508,0.0
+latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.631767,0.0
+latest,Objagemstone,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,16.234604,5.571044
+latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.475933,0.0
+latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.815243,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.667923,0.0
+latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.675271,0.0
+latest,Objahandgrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.757178,0.0
+latest,Objahandhelddevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.950128,8.353675
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.499711,0.0
+latest,Objahikingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.461603,0.0
+latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.50179,0.0
+latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.471237,0.0
+latest,Objalockingpliers,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.279014,9.118941
+latest,Objamagicwand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.965022,0.0
+latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.609271,0.0
+latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.811274,0.0
+latest,Objametalplate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.647564,39.093608
+latest,Objamicrophone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.624849,0.0
+latest,Objaminiaturewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.5531,0.0
+latest,Objaminidvtape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.184465,0.0
+latest,Objamultitool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.762285,0.0
+latest,Objanameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.4484,0.0
+latest,Objaneedle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.964365,0.0
+latest,Objanetworkdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.586819,0.0
+latest,Objanightvisionscope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.647706,0.0
+latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.034395,0.0
+latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.927012,0.0
+latest,Objapaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.380873,0.0
+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.293721,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.841398,0.0
+latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986973,0.0
+latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,91.406093,0.0
+latest,Objapotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.691302,0.0
+latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.158184,0.0
+latest,Objasandwich,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.12107,0.0
+latest,Objascepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.546187,0.0
+latest,Objaservingdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.481704,0.0
+latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.231807,0.0
+latest,Objasharpeningsteel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.266003,0.0
+latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.211543,0.0
+latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.833151,0.0
+latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.514986,0.0
+latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.429639,0.0
+latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.989865,0.0
+latest,Objastatuette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.147182,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.400242,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.713207,0.0
+latest,Objastonetray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.880208,0.0
+latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.369807,0.0
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+latest,Objatoyfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.114979,0.0
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+latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.762505,0.0
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+latest,Pot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.077061,21.026252
+latest,Spray Bottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,83.986722,37.176374
+latest,OVERALL,3,118,2.54,0.92,7.19,3,2.54,0.92,7.19,40.479589,23.347604

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/shard_04_results.csv

@@ -0,0 +1,113 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.822724,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.239542,0.0
+latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.751784,0.0
+latest,Fruit,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.903091,18.459919
+latest,Objaadhesivetape,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.162194,11.374243
+latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.942649,0.0
+latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.150332,0.0
+latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.897499,0.0
+latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0
+latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.41244,0.0
+latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0
+latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0
+latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0
+latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0
+latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.353455,0.0
+latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.340634,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.860653,0.0
+latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.516872,0.0
+latest,Objacapsule,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.090644,16.431368
+latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0
+latest,Objacircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.658052,0.0
+latest,Objacoilspring,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.811946,22.071752
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.23356,0.0
+latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.80468,0.0
+latest,Objadecorativebust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.894351,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.831684,0.0
+latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.749984,0.0
+latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.65253,0.0
+latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.492354,0.0
+latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.962216,0.0
+latest,Objadecorativewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.705115,0.0
+latest,Objadeskcalendar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.439571,0.0
+latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.651218,0.0
+latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.085562,0.0
+latest,Objadogtoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.713593,0.0
+latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99114,0.0
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.193457,0.0
+latest,Objaenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.551982,0.0
+latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.448689,0.0
+latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.354923,0.0
+latest,Objaflowerpot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.921984,13.826309
+latest,Objafoil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.050806,0.0
+latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.434078,0.0
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.981351,0.0
+latest,Objagardenhoseconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.237508,0.0
+latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.631767,0.0
+latest,Objagemstone,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,16.234604,5.571044
+latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.475933,0.0
+latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.815243,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.667923,0.0
+latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.675271,0.0
+latest,Objahandgrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.757178,0.0
+latest,Objahandhelddevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.950128,8.353675
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.499711,0.0
+latest,Objahikingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.461603,0.0
+latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.50179,0.0
+latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.471237,0.0
+latest,Objalockingpliers,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.279014,9.118941
+latest,Objamagicwand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.965022,0.0
+latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.609271,0.0
+latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.811274,0.0
+latest,Objametalplate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.647564,39.093608
+latest,Objamicrophone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.624849,0.0
+latest,Objaminiaturewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.5531,0.0
+latest,Objaminidvtape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.184465,0.0
+latest,Objamultitool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.762285,0.0
+latest,Objanameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.4484,0.0
+latest,Objaneedle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.964365,0.0
+latest,Objanetworkdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.586819,0.0
+latest,Objanightvisionscope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.647706,0.0
+latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.034395,0.0
+latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.927012,0.0
+latest,Objapaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.380873,0.0
+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.293721,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.841398,0.0
+latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986973,0.0
+latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,91.406093,0.0
+latest,Objapotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.691302,0.0
+latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.158184,0.0
+latest,Objasandwich,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.12107,0.0
+latest,Objascepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.546187,0.0
+latest,Objaservingdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.481704,0.0
+latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.231807,0.0
+latest,Objasharpeningsteel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.266003,0.0
+latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.211543,0.0
+latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.833151,0.0
+latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.514986,0.0
+latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.429639,0.0
+latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.989865,0.0
+latest,Objastatuette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.147182,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.400242,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.713207,0.0
+latest,Objastonetray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.880208,0.0
+latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.369807,0.0
+latest,Objatoiletpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.01025,0.0
+latest,Objatoyfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.114979,0.0
+latest,Objatoyraygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.682415,0.0
+latest,Objatoyrobot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.676033,0.0
+latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.762505,0.0
+latest,Objavessel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,39.171979,0.0
+latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.611618,0.0
+latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.572442,0.0
+latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.015841,0.0
+latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.225516,0.0
+latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.043026,0.0
+latest,Pot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.077061,21.026252
+latest,Spray Bottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,83.986722,37.176374
+latest,OVERALL,3,118,2.54,0.92,7.19,3,2.54,0.92,7.19,40.479589,23.347604

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/submission_manifest.json

@@ -0,0 +1,160 @@
+{
+  "policy_name": "latest",
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04",
+  "results_csv": "results.csv",
+  "summary_json": "summary.json",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "eval_meta_json": "eval_meta.json",
+  "eval_log": "eval.log",
+  "metrics_mean": {
+    "success_rate": 0.025423728813559324,
+    "success_count": 3.0,
+    "total_episodes": 118.0,
+    "avg_episode_length": 440.3813559322034,
+    "oracle_done_rate": 0.025423728813559324,
+    "success_rate_pct": 2.54,
+    "oracle_rate_pct": 2.54
+  },
+  "stats": {
+    "total_episodes": 118,
+    "success_count": 3,
+    "failure_count": 115,
+    "success_rate": 0.025423728813559324,
+    "avg_episode_length": 440.3813559322034,
+    "min_episode_length": 44,
+    "max_episode_length": 449,
+    "num_houses": 114,
+    "house_success_rates": {
+      "house_1016": 0.0,
+      "house_1129": 0.0,
+      "house_1215": 0.0,
+      "house_1281": 0.0,
+      "house_1357": 0.0,
+      "house_1421": 0.0,
+      "house_1440": 0.0,
+      "house_1598": 0.0,
+      "house_1698": 0.0,
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+      "house_1862": 0.0,
+      "house_1937": 0.0,
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+      "house_2142": 0.0,
+      "house_2245": 0.0,
+      "house_2360": 0.0,
+      "house_2465": 0.0,
+      "house_2502": 0.0,
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+      "house_2775": 0.0,
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+      "house_3052": 0.0,
+      "house_3190": 0.0,
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+      "house_3284": 0.0,
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+      "house_9928": 0.0
+    },
+    "oracle_done_count": 3,
+    "oracle_done_rate": 0.025423728813559324,
+    "avg_successful_episode_length": 110.0
+  },
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv",
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "end_on_success": true
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/summary.json

@@ -0,0 +1,202 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
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+    "success_count": 3.0,
+    "total_episodes": 118.0,
+    "avg_episode_length": 440.3813559322034,
+    "oracle_done_rate": 0.025423728813559324,
+    "success_rate_pct": 2.54,
+    "oracle_rate_pct": 2.54
+  },
+  "stats": {
+    "total_episodes": 118,
+    "success_count": 3,
+    "failure_count": 115,
+    "success_rate": 0.025423728813559324,
+    "avg_episode_length": 440.3813559322034,
+    "min_episode_length": 44,
+    "max_episode_length": 449,
+    "num_houses": 114,
+    "house_success_rates": {
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+    "avg_successful_episode_length": 110.0
+  },
+  "success_count": 3,
+  "total_count": 118,
+  "success_rate": 0.025423728813559324,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 3,
+    "total": 118,
+    "success_rate_pct": 2.54,
+    "ci_95_low_pct": 0.92,
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+    "oracle_rate_pct": 2.54,
+    "oracle_ci_95_low_pct": 0.92,
+    "oracle_ci_95_high_pct": 7.19,
+    "jerk_joint_mean": 40.479589,
+    "jerk_joint_std": 23.347604
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

@@ -0,0 +1,485 @@
+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [39,
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+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}	[pipeline.py: 1287]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 39 (index 0/121)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 39 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_39_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=39, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:34 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:35 INFO: [Worker 0] Sampled task 'Pick up the bronze cowboy scene belt buckle and place it next to the blue sports bra'	[task_sampler.py: 1136]
+05/26 12:05:35 INFO: [Worker 0] Worker 0 house 39 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:13:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 12:53:21 INFO: [Worker 0] Worker 0 house 39 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 12:53:30 INFO: [Worker 0] Batching and saving trajectory data for house_39: 1 episodes	[pipeline.py: 233]
+05/26 12:53:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 12:53:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 12:53:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_39	[save_utils.py: 703]
+05/26 12:53:39 INFO: [Worker 0] Successfully saved trajectory data for house_39 in 8.39s (batch: 8.22s, save: 0.17s)	[pipeline.py: 280]
+05/26 12:53:40 WARNING: [Worker 0] No trajectory data to save for house_39	[pipeline.py: 229]
+05/26 12:53:40 INFO: [Worker 0] Worker 0 completed house 39: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 12:53:40 INFO: [Worker 0] Worker 0 starting house 77 (index 1/121)	[pipeline.py: 473]
+05/26 12:53:40 INFO: [Worker 0] Loaded 1 episodes for house 77 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 12:53:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 12:53:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_77_ceiling.xml	[task_sampler.py: 797]
+05/26 12:53:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=77, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:53:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:53:46 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects	[json_eval_task_sampler.py: 686]
+05/26 12:53:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:53:46 INFO: [Worker 0] Sampled task 'Pick up the wooden mannequin hand with peace and place it next to the irregular pale stone hand axe'	[task_sampler.py: 1136]
+05/26 12:53:46 INFO: [Worker 0] Worker 0 house 77 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:53:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:44:04 INFO: [Worker 0] Worker 0 house 77 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 13:44:16 INFO: [Worker 0] Batching and saving trajectory data for house_77: 1 episodes	[pipeline.py: 233]
+05/26 13:44:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 13:44:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 13:44:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_77	[save_utils.py: 703]
+05/26 13:44:24 INFO: [Worker 0] Successfully saved trajectory data for house_77 in 8.27s (batch: 8.05s, save: 0.22s)	[pipeline.py: 280]
+05/26 13:44:26 WARNING: [Worker 0] No trajectory data to save for house_77	[pipeline.py: 229]
+05/26 13:44:26 INFO: [Worker 0] Worker 0 completed house 77: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 13:44:26 INFO: [Worker 0] Worker 0 starting house 206 (index 2/121)	[pipeline.py: 473]
+05/26 13:44:26 INFO: [Worker 0] Loaded 1 episodes for house 206 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 13:44:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 13:44:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_206_ceiling.xml	[task_sampler.py: 797]
+05/26 13:44:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=206, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 13:44:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 13:44:44 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/26 13:44:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 13:44:44 INFO: [Worker 0] Sampled task 'Pick up the brown jug with skull motif and place it next to the colorful geometric polyhedral structure'	[task_sampler.py: 1136]
+05/26 13:44:44 INFO: [Worker 0] Worker 0 house 206 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 13:44:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:44:45 WARNING: [Worker 0] Could not find object objaheaddress_017a1cee8b614bacaeb030e17545ccac_1_0_5 in scene	[object_manager.py: 1238]
+05/26 13:44:45 WARNING: [Worker 0] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_5 in scene	[object_manager.py: 1238]
+05/26 13:44:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 14:58:49 INFO: [Worker 0] Worker 0 house 206 episode 0 object objadecorativejug_43598b55b6464176871ac9a56218fcd3_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 14:58:56 INFO: [Worker 0] Batching and saving trajectory data for house_206: 1 episodes	[pipeline.py: 233]
+05/26 14:58:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:59:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:59:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_206	[save_utils.py: 703]
+05/26 14:59:02 INFO: [Worker 0] Successfully saved trajectory data for house_206 in 6.52s (batch: 6.20s, save: 0.32s)	[pipeline.py: 280]
+05/26 14:59:03 WARNING: [Worker 0] No trajectory data to save for house_206	[pipeline.py: 229]
+05/26 14:59:03 INFO: [Worker 0] Worker 0 completed house 206: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 14:59:03 INFO: [Worker 0] Worker 0 starting house 334 (index 3/121)	[pipeline.py: 473]
+05/26 14:59:03 INFO: [Worker 0] Loaded 1 episodes for house 334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 14:59:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 14:59:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_334_ceiling.xml	[task_sampler.py: 797]
+05/26 14:59:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=334, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:59:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:59:37 INFO: [Worker 0] randomize_scene: Setting poses for 113 objects	[json_eval_task_sampler.py: 686]
+05/26 14:59:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:59:37 INFO: [Worker 0] Sampled task 'Pick up the wavy strip with gradient and place it next to the teal hardcover book with white text'	[task_sampler.py: 1136]
+05/26 14:59:37 INFO: [Worker 0] Worker 0 house 334 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:59:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:54:44 INFO: [Worker 0] Worker 0 house 334 episode 0 object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 16:54:52 INFO: [Worker 0] Batching and saving trajectory data for house_334: 1 episodes	[pipeline.py: 233]
+05/26 16:54:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 16:54:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:54:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_334	[save_utils.py: 703]
+05/26 16:54:58 INFO: [Worker 0] Successfully saved trajectory data for house_334 in 6.60s (batch: 6.27s, save: 0.33s)	[pipeline.py: 280]
+05/26 16:55:00 WARNING: [Worker 0] No trajectory data to save for house_334	[pipeline.py: 229]
+05/26 16:55:00 INFO: [Worker 0] Worker 0 completed house 334: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 16:55:00 INFO: [Worker 0] Worker 0 starting house 428 (index 4/121)	[pipeline.py: 473]
+05/26 16:55:00 INFO: [Worker 0] Loaded 1 episodes for house 428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 16:55:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 16:55:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_428_ceiling.xml	[task_sampler.py: 797]
+05/26 16:55:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:55:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:55:25 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/26 16:55:25 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:55:25 INFO: [Worker 0] Sampled task 'Pick up the purple hourglass and place it next to the stylized light blue cartoon guitar'	[task_sampler.py: 1136]
+05/26 16:55:25 INFO: [Worker 0] Worker 0 house 428 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 16:55:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:55:25 WARNING: [Worker 0] Could not find object objacandle_6f9449250adc4f9d941f56e486cf186e_1_0_5 in scene	[object_manager.py: 1238]
+05/26 16:55:25 WARNING: [Worker 0] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene	[object_manager.py: 1238]
+05/26 17:01:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 18:01:51 INFO: [Worker 0] Worker 0 house 428 episode 0 object objahourglass_d9aeb46f965a492ea436ee917242e7d9_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 18:01:59 INFO: [Worker 0] Batching and saving trajectory data for house_428: 1 episodes	[pipeline.py: 233]
+05/26 18:01:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:02:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:02:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_428	[save_utils.py: 703]
+05/26 18:02:07 INFO: [Worker 0] Successfully saved trajectory data for house_428 in 7.99s (batch: 7.74s, save: 0.25s)	[pipeline.py: 280]
+05/26 18:02:08 WARNING: [Worker 0] No trajectory data to save for house_428	[pipeline.py: 229]
+05/26 18:02:08 INFO: [Worker 0] Worker 0 completed house 428: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:02:08 INFO: [Worker 0] Worker 0 starting house 506 (index 5/121)	[pipeline.py: 473]
+05/26 18:02:08 INFO: [Worker 0] Loaded 1 episodes for house 506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 18:02:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 18:02:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_506_ceiling.xml	[task_sampler.py: 797]
+05/26 18:02:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=506, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:02:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:02:30 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects	[json_eval_task_sampler.py: 686]
+05/26 18:02:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:02:30 INFO: [Worker 0] Sampled task 'Pick up the open-end wrench and place it next to the open medium brown cardboard box'	[task_sampler.py: 1136]
+05/26 18:02:30 INFO: [Worker 0] Worker 0 house 506 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:02:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:02:30 WARNING: [Worker 0] Could not find object objascrew_d27926c37ce847d2903b34040d41855a_1_0_6 in scene	[object_manager.py: 1238]
+05/26 18:08:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 18:55:58 INFO: [Worker 0] Worker 0 house 506 episode 0 object objawrench_5bf781c9fd8d4121b735503b13ba2eaf_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 18:56:09 INFO: [Worker 0] Batching and saving trajectory data for house_506: 1 episodes	[pipeline.py: 233]
+05/26 18:56:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:56:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:56:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_506	[save_utils.py: 703]
+05/26 18:56:17 INFO: [Worker 0] Successfully saved trajectory data for house_506 in 8.02s (batch: 7.64s, save: 0.39s)	[pipeline.py: 280]
+05/26 18:56:19 WARNING: [Worker 0] No trajectory data to save for house_506	[pipeline.py: 229]
+05/26 18:56:19 INFO: [Worker 0] Worker 0 completed house 506: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:56:19 INFO: [Worker 0] Worker 0 starting house 571 (index 6/121)	[pipeline.py: 473]
+05/26 18:56:19 INFO: [Worker 0] Loaded 1 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 18:56:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 18:56:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_571_ceiling.xml	[task_sampler.py: 797]
+05/26 18:56:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:56:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:56:38 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/26 18:56:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:56:38 INFO: [Worker 0] Sampled task 'Pick up the gray cylindrical bacterium with flagella and place it next to the smooth white decorative molding'	[task_sampler.py: 1136]
+05/26 18:56:38 INFO: [Worker 0] Worker 0 house 571 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:56:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:56:39 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene	[object_manager.py: 1238]
+05/26 18:56:39 WARNING: [Worker 0] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene	[object_manager.py: 1238]
+05/26 19:01:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information
+    observation = self.get_observations()
+                  ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations
+    env_obs = self._sensor_suite.get_observations(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations
+    return {
+           ^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in <dictcomp>
+    uuid: sensor.get_observation(env=env, task=task, **kwargs)  # type: ignore
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation
+    info = task.get_info()[batch_index]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info
+    r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb
+    aabb_min = np.min(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher
+    def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None,
+    
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/episode_results.jsonl

@@ -0,0 +1,119 @@
+{"house_id": "house_1023", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white bowling pin with red stripes and place it next to the black calculator with buttons", "object_name": "objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1153", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 285, "task_description": "Pick up the tall white candle on golden holder and place it next to the brown bowl", "object_name": "candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1223", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden chisel and place it next to the dark green graphics card with fans", "object_name": "objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the octagonal translucent soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the alarmclock", "object_name": "objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored molecular model with spheres and place it next to the dark glossy hardcover book with gold", "object_name": "objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1602", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white lint roller with handle and place it next to the blue dna helix model with rungs", "object_name": "objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1700", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant purple artificial flower with stem and place it next to the open brown cardboard storage box", "object_name": "objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1771", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate vintage parchment ribbon and place it next to the dark matte cup with grooves", "object_name": "objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue ceramic bowl and place it next to the soap bottle", "object_name": "bowl_344f5d88e6486f071740266b3cc43858_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1963", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black logo featuring yellow car silhouette and place it next to the butterfly knife with colorful gradient blade", "object_name": "objalogo_df86b5ef4e054efca6be94242016e748_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1963", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact olive green emergency radio and place it next to the butterfly knife with colorful gradient blade", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it next to the glossy ripe red tomato with stem", "object_name": "objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2037", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc with thumbs-up and place it next to the dark square switch plate with screws", "object_name": "objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2151", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handmade mallet with stones and place it next to the cleaning product", "object_name": "objadecorativemallet_c9c8c6e330c94b55a830e67d1529cb1f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2256", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular wooden luggage tag with engraving and place it next to the vintage instant camera with rainbow stripe", "object_name": "objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2363", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal kerosene lantern and place it next to the irregular patch of ground", "object_name": "objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2467", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hexagonal dark stone platform and place it next to the stylized orange butterfly with brown body", "object_name": "objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp butterfly knife with wood and place it next to the glossy yellow ceramic vase", "object_name": "objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2676", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact wooden radio with display and place it next to the light brown ceramic bowl", "object_name": "objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2791", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple pekito chocolate snack package and place it next to the breadstuff", "object_name": "objasnackpackage_569da04563544734bd90630d57fc7be2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2791/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2861", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the badge and place it next to the foodstuff", "object_name": "objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2963", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light green plastic garden hose nozzle and place it next to the fresh green leafy lettuce", "object_name": "objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3056", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white aerodynamic shell and place it next to the slim rectangular metallic phone", "object_name": "objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3199", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent flask with vibrant purple liquid and place it next to the breadstuff", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3262", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the folded newspaper paper boat and place it next to the soapdispenser", "object_name": "objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3286", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth wooden rod and place it next to the round brown bread loaf", "object_name": "objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3381", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange plastic funnel and place it next to the transparent tall wine glass", "object_name": "objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3441", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature stone tower and place it next to the castle tower with turrets", "object_name": "objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3527", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black reflex sight and place it next to the large black hardcover book", "object_name": "objareflexsight_0cf999d9363940c2b149dcd80c448554_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray pyramid die with turquoise numbers and place it next to the small decorative green indoor plant", "object_name": "objadie_7dadee868cb5440a909202978960e4f0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3723", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent blue soap bottle and place it next to the worn brown glove", "object_name": "soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3776", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large olive green clothespin with spring and place it next to the metal lever with base", "object_name": "objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3912", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and pink figure and place it next to the colorful bird with pink beak", "object_name": "objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4034", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wireless telephone and place it next to the dark soil slab", "object_name": "objavintagemobilephone_5f7dc6411ae94dd2bb98e59d83832ab1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4136", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white block sign and place it next to the light gray wooden bowl", "object_name": "objasignage_15cd21252eda4ee780eb3be74d655d40_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4184", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark tool and place it next to the light blue cat with yellow patterns", "object_name": "objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4184", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue patterned cat and place it next to the gold pump bottle", "object_name": "objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4205", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue floral ceramic teacup with handle and place it next to the tall white candle", "object_name": "objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte black cylindrical suppressor and place it next to the silver bowl", "object_name": "objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black calculator with buttons and place it next to the green card with flowers", "object_name": "objacalculator_cac428295bf64df59ffad15bc3124b0a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4398", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brass astrolabe with engravings and place it next to the dark stone cylindrical seal with carvings", "object_name": "objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spiked collar and place it next to the spray bottle", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stone hammer and place it next to the bulbous shiny gold metallic vase", "object_name": "objastonehammer_ad3d9fa077264d4484c91c6b05888a4e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4677", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the card with green flowers and place it next to the colorful cube with designs", "object_name": "objadecorativecard_8e87806126c448aab98c71055a501921_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4712", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cylindrical scope with lens and place it next to the small green tractor", "object_name": "objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4793", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with blue screen and place it next to the shallow white square ceramic bowl", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4870", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange futuristic spacecraft with wings and place it next to the shallow wide gray ceramic bowl", "object_name": "objatoyspacecraft_5397fb2487734503a9819b448abf14c9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4957", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the textured black yellow screwdriver and place it next to the green spherical lettuce", "object_name": "objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5050", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black lightning trophy with base and place it next to the potato", "object_name": "objaaward_767baba2ef7145d188ab5437730b76ff_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5050/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5145", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown wooden handle screwdriver and place it next to the sleek dark rectangular phone", "object_name": "objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue star mold and place it next to the large red tomato", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5342", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the vintage film projector with leather", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5453", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green cucumber and place it next to the blue patterned bowl", "object_name": "objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative wooden hatchet and place it next to the moka pot", "object_name": "objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5606", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mechanical device and place it next to the rectangular dark gray tufted pillow", "object_name": "objabicyclepump_283379c9c7c9422c8a0c5213c827723f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5606/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5666", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange circular emblem with blue and place it next to the stopwatch", "object_name": "objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_571", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray cylindrical bacterium with flagella and place it next to the smooth white decorative molding", "object_name": "objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5770", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large gray cylindrical metal bolt and place it next to the rectangular color calibration chart with colors", "object_name": "objabolt_2ccd6566b5714c5da3b61d3682ec64ac_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek dark rectangular phone and place it next to the vintage black ricoh kr-5 camera", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold brown fish sculpture and place it next to the pizza slice with crust", "object_name": "objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6057", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown cylindrical fabric spool and place it next to the metal bolt", "object_name": "objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6120", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharpening steel and place it next to the brown tortoise model with shell", "object_name": "objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_614", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze full-figured statue and place it next to the vintage green aircraft", "object_name": "statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_614/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6204", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic brown dish and place it next to the bulbous shiny gold metallic vase", "object_name": "objadish_59f077a37f3e4a369b488209046e5aeb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6213", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the insect and place it next to the insect", "object_name": "objainsectsculpture_dd195f6a3aed4a5da766b29e3ad14a2d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6213", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with red logo and place it next to the model starship", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6257", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wrench and place it next to the stylized yellow vintage cartoon van", "object_name": "objaadjustablewrench_5bbc755b07924fcba6ccd702191f90df_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6302", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive tool and place it next to the miniature windmill", "object_name": "objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6385", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the solid blue arrow with white outline and place it next to the geometric blue butterfly", "object_name": "objadecorativearrow_f38febed165240b9aea5289c215c6b65_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6452", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oval avocado with bumpy green skin and place it next to the blue soap bottle with orange pump", "object_name": "objaavocado_cb72a029445445e4a9fb6cc76715d11d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal chain and place it next to the table lamp", "object_name": "objachain_f3ab69afeb0b49518318a2263f17564e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red locomotive and place it next to the smooth rounded ceramic bowl", "object_name": "objatrainmodel_3463948e9b03463e8968dbdd11a5d745_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6766", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy chocolate cake bar wrapper and place it next to the dark matte cup with grooves", "object_name": "objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_679", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale yellow disk with indentations and place it next to the soapdispenser", "object_name": "objadisk_97aa2085a8c143c0aacdce273d66d03d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps and place it next to the coffee machine", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6941", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal axe and place it next to the smooth light brown egg", "object_name": "objahandaxe_be5b9e7c2bac495fb4494b89c2e3e915_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7013", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage beige minerva stopwatch with figure and place it next to the light blue labeled cleaning bottle", "object_name": "objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7076", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheldscanner and place it next to the rusty spray paint can with blue", "object_name": "objahandheldscanner_4768cdc427e249a2aea0124a54608f1f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7172", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige stone and place it next to the plate", "object_name": "objastone_913f6a32c94043f9892baabc13025e7a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature stone tower and place it next to the n95 mask with blue valve", "object_name": "objaminiaturetower_0780a7e5369442c3967681084a046588_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green snail with large brown shell and place it next to the bulbous shiny gold vase", "object_name": "objasnailsculpture_cc5307e5737f4db4ab09caeaeb07a6e7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7343", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the classic blue and white camper van", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7377", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red bowtie with white polka dots and place it next to the glossy brown goblet cup", "object_name": "objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7449", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium brown rough potato with imperfections and place it next to the bulbous shiny gold metallic vase", "object_name": "Irishpotato_97ed5203740bb4947ae92dcbf36ae46c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7506", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red ninja patch and place it next to the black mask", "object_name": "objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7641", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cornermolding and place it next to the miniature tree with lush green leaves", "object_name": "objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hexagonal metallic light projector and place it next to the black hardcover book with orange text", "object_name": "objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_778", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange ribbon star medal and place it next to the small gold dog statue", "object_name": "objamedal_33981284489f4a7b930e6cc917400042_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7847", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with label and place it next to the golden yellow apple with stem", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_3_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7847/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the black rectangular network switch", "object_name": "objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silencer and place it next to the metal lamp", "object_name": "objasuppressor_4d9a44997f514c8da02d3a6be9b9648b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue calendar with mountains and place it next to the metallic burgundy toaster", "object_name": "objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8221", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone axe with wooden handle and place it next to the shiny gold vase", "object_name": "objastoneaxe_c6677888b7944b9295ed73a1061d448f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8221/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8264", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light gray origami crane and place it next to the light gray origami paper crane", "object_name": "objaorigamicrane_1b852180c77842c2867a9ff0a4959f2e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8278", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic keypad with buttons and place it next to the gray ankle boot", "object_name": "objakeypad_7994d3067a554e4dab14e88af242f174_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8278", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue gold beaded bottle and place it next to the metallic blue toaster", "object_name": "objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8373", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise spray bottle and place it next to the smooth reflective silver vase", "object_name": "atomizer_c60254aae031ecd4e316a5add61459a4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8410", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old rusted circular metal ring and place it next to the colorful blocky toy ship with propeller", "object_name": "objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8495", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved track and place it next to the medium cardboard box with flaps", "object_name": "objamodeltraintrack_823d9a0dfeea4d348bb75ecbe96b372a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8495/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_861", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown carved stone seal with lion and place it next to the rugged handheld radio", "object_name": "objaseal_8197dcc6f59241cea24f1ac503c6e085_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8625", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the root vegetable and place it next to the medium round red tomato with stem", "object_name": "Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8697", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature traffic light with striped pole and place it next to the gray spray bottle", "object_name": "objaminiaturetrafficlight_51e10b3176ed4554bcc5ce306f8de3ee_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8794", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paintbrush with wooden handle and place it next to the semi-translucent flat white vase", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8872", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall teal product box and place it next to the yellow lyre", "object_name": "objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small black trafficlight and place it next to the medium brown cardboard storage box", "object_name": "objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9017", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal lid and place it next to the rugged brown and reddish textured rock", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9073", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chirography and place it next to the white spherical model with label", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rails with sleepers and place it next to the sleek slim dark phone with camera", "object_name": "objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9221", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the round olive ceramic plate with scallops", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_927", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ergonomic black wireless mouse and place it next to the green mechanical fish", "object_name": "objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9297", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black digital camera with lens and place it next to the tall dark cylindrical column", "object_name": "objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9414", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone axe with wooden handle and place it next to the lighthouse", "object_name": "objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the anchor ring and place it next to the means", "object_name": "objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9538", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow bubble tea cup with straw and place it next to the cup", "object_name": "objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9609", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth white curved bone and place it next to the cupcake with cherry and wafer", "object_name": "objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9687", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal door lock and place it next to the purple square pillow", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9768", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pliers and place it next to the white jawbone", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the photoalbum and place it next to the miniature pink torii gate", "object_name": "objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv

@@ -0,0 +1,117 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.371359,0.0
+latest,Candle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,108.982493,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.030441,0.0
+latest,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,118.135082,84.952749
+latest,Objaabstractfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.925881,0.0
+latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.095122,0.0
+latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.609133,0.0
+latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.550102,0.0
+latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903619,0.0
+latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.70768,0.0
+latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.184846,0.0
+latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.725339,0.0
+latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.227851,0.0
+latest,Objabicyclepump,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.110951,0.0
+latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.174798,0.0
+latest,Objabowlingpin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.492661,0.0
+latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.534818,0.0
+latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.469288,0.0
+latest,Objacalculator,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.37332,0.0
+latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.77496,0.0
+latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.613543,0.0
+latest,Objachain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.549578,0.0
+latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.144838,0.0
+latest,Objaclothespin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.153116,0.0
+latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.119242,0.0
+latest,Objacomputermouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.015644,0.0
+latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.55066,0.0
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.344719,0.0
+latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.114015,0.0
+latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.713832,0.0
+latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.516158,0.0
+latest,Objadecorativecat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.637027,0.0
+latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.570041,0.0
+latest,Objadecorativefishsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.925735,0.0
+latest,Objadecorativemallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.282373,0.0
+latest,Objadecorativeplatform,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.017441,0.0
+latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.099086,0.0
+latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.637395,0.0
+latest,Objadecorativesymbol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,217.2272,0.0
+latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.853156,0.0
+latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,128.416387,0.0
+latest,Objadigitalradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.572207,0.0
+latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.767288,0.0
+latest,Objadisk,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.149263,0.0
+latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.132691,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.228459,0.0
+latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.422195,0.0
+latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.134446,0.0
+latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.164166,0.0
+latest,Objafunnel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,153.378748,0.0
+latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.552269,0.0
+latest,Objagpsdevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.112438,11.971111
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.326353,0.0
+latest,Objahandheldscanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.36356,0.0
+latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.724103,0.0
+latest,Objahandtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.842043,0.0
+latest,Objahatchet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.171276,0.0
+latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.942788,0.0
+latest,Objainsectsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.772131,0.0
+latest,Objakeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.281464,0.0
+latest,Objalantern,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.091833,0.0
+latest,Objalid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.756835,0.0
+latest,Objalintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.792099,0.0
+latest,Objalogo,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.308875,0.0
+latest,Objaluggagetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.691142,0.0
+latest,Objamedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.556824,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.957014,0.0
+latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.520791,0.0
+latest,Objaminiaturetower,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.345216,12.734481
+latest,Objaminiaturetrafficlight,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.202845,2.880665
+latest,Objamodeltraintrack,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.114842,23.437862
+latest,Objamold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,122.382378,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.125388,0.0
+latest,Objaorigamicrane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.156598,0.0
+latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.658473,0.0
+latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.768405,0.0
+latest,Objapaperboat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.962212,0.0
+latest,Objapatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.343138,0.0
+latest,Objaphotoalbum,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.038203,0.0
+latest,Objapillbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.094578,0.0
+latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.361949,0.0
+latest,Objaprimitivetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.400433,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/summary.json

@@ -0,0 +1,203 @@
+{
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+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
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+  "random_seed": 42,
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+    "oracle_rate_pct": 0.84
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+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
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+  "csv_overall_row": {
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+    "total": 119,
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+    "oracle_ci_95_high_pct": 4.56,
+    "jerk_joint_mean": 46.972367,
+    "jerk_joint_std": 34.65995
+  },
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+  "skip_csv": false,
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+  "composed_videos": {}
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament